Performance guaranteed fault control of uncertain constrained nonaffine systems under input quantization and actuation failures

This paper investigates the tracking control problem for a class of uncertain nonaffine system in the presence of input quantization and saturation yet possibly faulty actuators. A quantized robust adaptive fault-tolerant control scheme capable of guaranteeing performance specifications is developed. By injecting quantizer parameters into the control design and using performance transformation, a constrained robust adaptive fault-tolerant control scheme is developed to cope with modeling uncertainties, actuation saturation, and actuation faults, ensuring uniformly ultimately bounded stable tracking with the prescribed performance. The effectiveness of the proposed control strategy is confirmed by systematic stability analysis and simulation.