Robust adaptive fault‐tolerant tracking control for a class of high‐order nonlinear system with finite‐time prescribed performance

Summary In this article, an improved prescribed performance adaptive control strategy is developed to handle the output tracking control problem for a class of nonlinear high‐order systems with actuator faults. The actuator faults considered include the bias fault and gain fault models. A technique of adding a power integrator is utilized to deal with the controller design problem of high‐order system. With the help of backstepping technology and the classic adaptive control, an output tracking control scheme is proposed, which can guarantee that all signals of the closed‐loop system are bounded and the tracking error converges to a finite‐time predetermined region. Finally, the feasibility of the presented control method is tested through the simulation results.