Prescribed performance output tracking control for nonlinear systems with unmodeled fault

This paper considered the fault tolerant tracking control problem of a class of nonlinear systems with actuator fault and system external disturbance. First, by introducing error transformation function, the original constrained error is transformed into an equivalent unconstrained signal. Then, based on the performance function and backstepping method, an adaptive actuator fault tolerant control scheme is designed to guarantee that the output tracking error meets the given prescribed requirements. Finally, the simulation results on autonomous underwater vehicle demonstrate the effectiveness of the proposed design technique.