High-Order Fully Actuated Systems: Tolerating Multiplicative Actuator Faults

The paper proposes a fault-tolerant tracking controller for high-order fully actuated systems (HOFASs) with multiplicative actuator faults. In view of a parameterized requirement for the faulty HOFASs, a fault-tolerant controller dynamics is reconstructed via the extended state observer technique, yielding a multiplicative fault estimation method. The uniformly ultimately bounded error stability is proved mathematically and illustrated by simulation.