Fault-tolerant control and disturbance attenuation of a class of nonlinear systems with actuator and component failures

This paper investigates the stabilization problem of a class of nonlinear dynamic systems with actuator and component failures as well as external disturbances. New fault-tolerant control algorithms are derived without the need for analytically estimating bound on actuator failure variables. It is shown that with the proposed method, both actuator failures and subsystem/component failures can be accommodated and the unmeasured state dependent growth disturbances can be effectively attenuated. Numerical simulations are conducted to confirm the effectiveness of the proposed fault-tolerant control method.