Adaptive control of nonlinear time-delay systems in the presence of output constraints and actuators faults

This paper aims to design a controller to compensate the faults for a class of time-delay nonlinear systems. This controller is based on the back-stepping design approach. A barrier Lyapunov function has been employed to ensure the satisfaction of output constraints. This controller is proposed for nonlinear systems with parameter uncertainty, time-delay and uncertain faults in actuators while no bounds for parameters, delays and actuators faults are supposed. The boundedness of all the closed-loop signals is guaranteed and the tracking error is proved to converge to a small neighbourhood of the origin without violation of the constraint. In the end, the simulation results show the effectiveness of the proposed control method.