Actuator Faults Tolerance for Stochastic High-Order Fully Actuated Systems

This article investigates the problem of fault-tolerant control (FTC) for stochastic high-order fully actuated (SHOFA) systems with actuator faults. Different from the majority of existing studies focusing on deterministic high-order fully actuated (HOFA) systems, this work accounts for stochastic disturbances. Employing the generalized martingale technique, a novel fault-tolerant equivalent controller is formulated. Additionally, an adaptive compensation law is devised to address time-varying faults promptly. The designed pre-closed-loop strategy advocates the advantage of HOFA methodology in the meantime and guarantees performance by ensuring that all signals are bounded in probability. Finally, a numerical example is presented to demonstrate the efficacy of the proposed method.