Active Complementary Control for Affine Nonlinear Control Systems With Actuator Faults

This paper is concerned with the problem of active complementary control design for affine nonlinear control systems with actuator faults. The outage and loss of effectiveness fault cases are considered. In order to achieve the performance enhancement of the faulty control system, the complementary control scheme is designed in two steps. Firstly, a novel fault estimation scheme is developed. Then, by using the fault estimations to reconstruct the faulty system dynamics and introducing a cost function as the optimization objective, a nearly optimal complementary control is obtained online based on the adaptive dynamic programming (ADP) method. Unlike most of the previous ADP methods with the addition of a probing signal, new adaptive weight update laws are derived to guarantee the convergence of neural network weights and the stability of the closed-loop system, which strongly supports the online implementation of the ADP method. Finally, two simulation examples are given to illustrate the performance and effectiveness of the proposed method.