Robust Fault-tolerant Compensation Control with Actuator Failures and Bounded Disturbances: an Indirect Adaptive Method

This paper presents indirect adaptive state feedback control schemes to solve a robust fault-tolerant control (FTC) problem for linear time-invariant systems with actuator failures and bounded disturbances. While both eventual faults on actuators and the bound of external disturbances are unknown, adaptation laws are proposed to estimate the faults and upper and lower bounds of disturbances on-line. Then a class of adaptive robust state feedback controllers is constructed to automatically compensate the fault and disturbance effects based on the information from adaptive schemes. On the basis of Lyapunov stability theory, it shows that the resulting adaptive closed-loop systems can be ensured to be asymptotically stable in the presence of faults on actuators and disturbances. Simulation results are given to verify the effectiveness of proposed method.