Robust Fault-Tolerant Control for Uncertain High-Order Fully Actuated Systems with Actuator Faults

This paper presents a novel fault-tolerant controller for a class of uncertain high-order fully actuated systems (FASs) with actuator faults. Recently, the FAS approaches have been rapidly developed in different fields. In order to cope with the fault tolerance issue for actuators in FAS framework, a multiplicative fault gain is introduced to the basic uncertain high-order system. Based on Lyapunov stability theory, a full-state feedback strategy is presented to ensure the globally uniformly asymptotically (GUA) stability of the considered FAS. Additionally, in the absence of actuator faults, the proposed fault-tolerant controller can robustly stabilize the FASs. A numerical experiment illustrates the effectiveness of the proposed method.