Robust Adaptive Output Feedback Fault Tolerant Control for a Class of Nonlinear Systems with Faults and Disturbances

This paper is concentrated on the problem of robust adaptive output feedback fault tolerant control for a class of nonlinear systems with Lipschitzian nonlinearities and faults. An adaptive fault estimator and a nonlinearity approximator via the measured output signals is introduced to establish an output feedback fault tolerant controller, so that the designed controller parameters are able to be updated on-line to compensate the fault effect on the nonlinear systems. The proposed control strategy guarantees the asymptotic stability of the closed-loop system with a prescribed $H_{\infty}$ performance. Numerical examples demonstrate the effectiveness of the proposed control scheme.