Finite-time fault-tolerant adaptive robust control for a class of uncertain non-linear systems with saturation constraints using integral backstepping approach

This study proposes a finite-time integral backstepping control for a class of non-linear systems considering practical aspects including saturation constraints, actuator fault, external disturbances and system uncertainties in order to achieve strong robustness, fast response and high-precision tracking performance. An adaptive version of the controller is then developed to deal with the total uncertainties in the system. The main property of the suggested controller is that there is no need for the knowledge of the actuator fault, external disturbances and system uncertainties to be available. Not only are all the closed-loop system states ensured to be globally finite-time stable within a given settling time, but the actuator faults are accommodated. The proposed controller is then applied to a two-link rigid robot manipulator. The simulation results verify the effectiveness of the proposed finite-time fault-tolerant adaptive control in terms of precision of tracking, convergent speed and robustness.