Finite-time adaptive fault-tolerant control for nonlinear systems with multiple faults

This paper focuses on the problem of adaptive finitetime fault-tolerant control for a class of non-lower-triangular nonlinear systems. The faults encountered in the control system include the actuator faults and the abrupt system fault. By applying backstepping design and neural networks approximation, an adaptive finite-time fault-tolerant control scheme is developed. It is shown that the proposed controller ensures that all signals in the closed-loop system are semi-globally practically finite-time stable and the tracking error converges to a small neighborhood around the origin within finite time. The simulation is carried out to explain the validity of the developed strategy.