Adaptive Fault-Tolerance Control for Stochastic Fully Actuated Systems With Component Faults

This article delves into fault-tolerant control (FTC) for stochastic fully actuated systems (SFASs) affected by component faults. Parallel to most existing studies focusing on deterministic fully actuated systems (FASs), this work considers the impact of stochastic disturbances. To stabilize the system states effectively, an adaptive state feedback FTC law is developed using a novel mixed-order backstepping technique in the sense of expectation. Under the circumstance of limited measurement, an observer-based FTC framework is also established with the necessary and sufficient condition for the distinguishableness of component faults. Both the devised fault compensation strategies ensure performance by constraining all signals within the prescribed probabilistic bounds, underscoring the advantages inherent in the FAS methodology concurrently. Finally, numerical and physical examples validate the efficacy of the proposed method.