Adaptive compensation of uncertain Euler–Lagrange systems with multiple time-varying actuator faults

This work proposes the command tracking problem for uncertain Euler–Lagrange (EL) systems with multiple partial loss of effectiveness (PLOE) actuator faults. Compared to existing fault-tolerant controllers for EL systems, the proposed adaptive controller accounts for parametric uncertainties in the system and multiple time-varying actuator fault parameters. The proposed method can also handle an infinite number of fault cases. The closed-loop fault-tolerant system is treated as a switched dynamical system, and a switched system stability is established using multiple Lyapunov functions. It is shown that all signals are bounded in each sub-interval and at the switching instances, and asymptotic tracking can be obtained only for a finite number of fault occurrences, whereas tracking error is bounded for the infinite case. Finally, a simulation example on a robotic manipulator is presented to show the effectiveness of the proposed method.