Actuator Fault Tolerant Control in Nonlinear Continuous-time Systems

This paper considers the actuator fault diagnosis and accommodation problem for a class of nonlinear continuous-time systems. The actuator fault is estimated by an adaptive observer based approach, and this estimation is used for continuously accommodating the control signal, so as to ensure identical (stabilizable) behaviours of the healthy and of the faulty system. Simulation results of a numerical example demonstrate good performance of the proposed approach.