Fault tolerant control against state-dependent actuator bias in a class of nonlinear systems

This paper presents a fault tolerant control strategy for a class of nonlinear systems. The considered fault is a kind of state-dependent actuator bias, which has a state-dependent bound with a unknown rate. To dealt with such kind of fault, a novel adaptive controller is proposed by applying a parameter separation technique and the tool of adding a power integrator. A smooth adaptive controller is developed to guarantee the global state regulation in the faulty situation. Finally, a simulation example is included to demonstrate efficiency of the proposed approach.