L∞ adaptive fault tolerant control for singular Lipschitz systems subject to actuator saturation

This paper deals with the problem of L∞ adaptive control for a class of singular Lipschitz systems in the presence of both actuator saturation and actuator fault. To overcome the redundant design for fixed-gain controller where the same controller is used in both normal and fault cases, a fault tolerant controller with adaptive mechanism is developed to compensate the failure effects on systems with the proposed adaptive controller parameters updating automatically. In addition, we show that our method remove the restriction for the requirement of information about the initial state. Consequently, the scope of application can be enlarged. Finally, a numerical example is provided to illustrate the effectiveness of the proposed approach.