Adaptive State Feedback Fault-Tolerant Tracking Control for Uncertain Nonlinear Systems with Sensor Failures

Abstract

In this paper, an adaptive state feedback fault-tolerant control (FTC) scheme is proposed for a class of nonlinear systems with system uncertainties and all state sensor failures, in which each state is measured by a sensor and all state sensors may suffer from failures during system operation. By constructing an adaptive dynamic gain, the unknown sensor failures and system uncertainties can be compensated simultaneously without fault detection and identification. The compensation controller is constructed by all sensor measurements and dynamic gain. It is shown that with the proposed method, all the closed-loop signals are bounded, and the measurable tracking error can converge to an arbitrarily small residual set. An electromechanical actuator (EMA), which has been used in different aircraft subsystems, such as surface control, fuel metering unit, thrust vector control, etc., is used to demonstrate the application of the proposed scheme.