Active fault-tolerant control for nonlinear systems with actuator faults and mismatched disturbances

This paper investigates active fault-tolerant control (AFTC) for a specific type of nonlinear systems that encounter actuator faults and mismatched disturbances. A fault diagnosis module is created to identify and estimate anomalies, furnishing essential data for the fault-tolerant controller. Upon detecting a fault, the fault estimation data is utilized to compensate for effective fault mitigation. To tackle the issue of estimation errors caused by disturbances, adaptive update laws are introduced by considering both the estimating error and disturbance as a new disturbance. By applying the command-filtered backstepping approach, it can ensure the boundedness of all system signals without excessive virtual signal differentiation. A simulated example is utilized to validate the proposed method’s feasibility.