Robust Fault Tolerant Direct Adaptive Fuzzy Control via Backstepping

A new design scheme of direct robust fault-tolerant adaptive fuzzy control for a class of perturbed and strict feedback nonlinear systems with actuators fault is proposed. The design is based on the backstepping. A continuous robust term is adopted to minimize the influence of modeling error or disturbance and the fuzzy systems approximate to the fault functions and controls. By theoretical analysis, the closed loop control system is proven to be semiglobally uniformly ultimately bounded, with tracking error converging to a residual set. Simulation results demonstrate the effectiveness of the approach.