Robust adaptive fault-tolerant control of nonlinear uncertain systems tracking uncertain target trajectory

The problem of enabling nonlinear uncertain dynamic systems to track a moving target with uncertain trajectory is of theoretical and practical importance. The underlying problem becomes further complicated if there involve unexpected actuation failures. In this paper, a robust adaptive fault-tolerant tracking control approach is proposed for unknown multi-input multi-output (MIMO) nonlinear systems without a priori precise knowledge of the desired target trajectory. To account for the impact of the uncertain desired trajectory, a mathematical model based on the extended Kalman filter (EKF) for reconstructing desired trajectory is proposed, which is then integrated into the development of tracking control algorithms to cope with modelling uncertainties and actuation faults. The matrix decomposition technique and the concept of deep-rooted information are used to facilitate the control design and stability analysis. The effectiveness of the proposed method is verified via computer simulation.