Disturbance Observer-Based Fault-Tolerant Adaptive Control for Nonlinearly Parameterized Systems

This paper aims at the fault-tolerant adaptive control for the nonlinearly parameterized systems with mismatched disturbances. A novel adaptive control scheme is developed in this paper by adding a power integrator technique. The mismatched disturbances are estimated by a designed disturbance observer. A new fault-tolerant control method is proposed to deal with the uncertain actuator faults including actuator stuck. The proposed adaptive controller ensures that the closed-loop system is input-to-state stable. Simulation results for a robotic arm system are given to present the effectiveness of the developed control technique.