Performance recovery-based adaptive saturated fault-tolerant control of uncertain nonlinear systems with actuator switching and periodic disturbances

This paper studies an adaptive saturated fault-tolerant control problem for uncertain nonlinear systems with periodic disturbances. In contrast to previous fault-tolerant control methods, a case of deferred actuator switching is taken into account, which stands for a more common situation. By designing monitoring functions and reconfigurable controllers, tracking errors can be recovered to prescribed performance within a specified time after a fault is detected. Then, a low-computation control strategy is employed to address the problem of complexity explosion, and neural networks and fourier series expansion are combined to model the uncertain nonlinear dynamics subject to time-varying periodic disturbances. The proposed scheme has a simpler structure and ensures the boundedness of all signals within the closed-loop system. Finally, to verify the effectiveness of the design scheme, two simulation examples are provided.