Adaptive fault-tolerant control of nonlinear systems: A self-regulating spatiotemporal performance approach

This paper investigates the problem of performance constraints of uncertain nonlinear systems with actuator faults. Particularly, by developing the boundary threshold triggering strategy, the performance boundaries would be updated adaptively once the distance between the tracking error and the performance boundaries is smaller than the given threshold. Moreover, compared with the existing works, the transient behaviors are improved, and the limitation imposed on the initial conditions is removed attributed to the construction of novel performance functions and error transformation. Then, an adaptive fault-tolerant control scheme with self-regulating spatiotemporal performance is designed for a class of nonlinear systems with non-parametric uncertainties. It is shown that both the boundedness of the closed-loop signals and the satisfactory performance constraints are guaranteed in the presence of unpredictable actuator failure. The effectiveness of the proposed method is verified by theoretical analysis and numerical simulation.