I&I Adaptive Dynamic Feedback Fault-Tolerant Tracking Control of a Class of Nonaffine Systems with Nonlinearly Parameterized Faults

In this paper, a systematic procedure is proposed for adaptive fault-tolerant tracking control design of a class of non-linear nonaffine systems with the parametric faults nonlinearly affecting the system dynamics. The unknown parameter in non-linearly parameterized (NLP) fault is directly estimated by the designed immersion and invariance (I&I) adaptation law. Then the parameter estimate is utilized to design the dynamic feedback control (DFC) law. By differentiating a newly defined augmented system state, the derivative of control input appears linearly in a higher dimensional system. A state transformation is introduced to generate an asymptotically stable error system. The proposed control scheme can guarantee that the parameter estimation error and tracking error converge to zero exponentially and their transient performance can be shaped as a result. The stability of the closed-loop system is rigorously analyzed. The numerical simulations are carried out to verify the effectiveness of the proposed control scheme.