Adaptive fault-tolerant control of MIMO nonlinear systems

This paper presents a low-cost control for a class of high-order nonlinear multi-input multi-output (MIMO) systems in the presence of actuation faults. The proposed control bears the PI form with analytical algorithms for PI gains auto-tuning. The resultant control action is continuous and is able to ensure uniformly ultimately boundedness of all the signals of the closed-loop system. The salient feature also lies in its low complexity in computation and effectiveness in dealing with modeling uncertainties and nonlinearities as well as actuation faults.