Observer-Based Fuzzy Adaptive Sensor Fault Compensation for Uncertain Nonlinear Strict-Feedback Systems

Abstract

This paper investigates the adaptive fuzzy tracking control problem for a class of uncertain nonlinear strict-feedback systems under sensor faults and unmeasured states. To address the challenges incurred by the partial loss of effectiveness of sensors, a novel observer-based adaptive fault-tolerant controller is designed. Different from the existing state observer design methods, the new state observer contains an adaptive fault compensation mechanism. By employing a cubic absolute-value Lyapunov function, it is proved that the proposed fault-tolerant controller guarantees that all the signals in the closed-loop system are bounded and the tracking performance of the system can be guaranteed even if the sensor fault occurs. Simulation results verify the effectiveness of the proposed method.