Adaptive fault-tolerant control of a class of nonlinear MIMO systems

This paper presents an integrated fault diagnosis and fault-tolerant control methodology for a class of nonlinear MIMO systems. Based on the fault information obtained during the diagnostic procedure, a fault-tolerant control component is designed to compensate for the effect of faults. In the presence of a fault, a baseline controller guarantees the boundedness of all system signals until the fault is detected. Then the controller is reconfigured after fault detection to compensate for the fault using online fault diagnostic information. Under certain assumptions, the stability and tracking performances of the closed-loop system are rigorously investigated. It is shown that, the system signals always remain bounded, and the output tracking error converges to a neighborhood of the origin of the state space.