Adaptive Fuzzy Fault-Tolerant Control of High-Order Nonlinear Systems: A Fully Actuated System Approach

An adaptive tracking control problem of high-order nonlinear strict-feedback system (SFS) with non-affine nonlinear faults is considered in this paper. Based on high-order fully actuated (HOFA) systems theory, dynamic surface control technique and universal approximation of fuzzy logic systems, a novel adaptive fuzzy fault-tolerant tracking controllers are directly constructed, it does not need to convert the high-order system into first-order one. By using Lyapunov function theory, the proposed controller design approach can guarantee that the closed-loop system is stable; at the same time, the tracking error can converge to a compact neighborhood with respect to zero. The simulation example has been verified the feasibility and effectiveness of the control approach in this paper.