Adaptive Output Fuzzy Fault Accommodation for a Class of Uncertain Nonlinear Systems With Multiple Time Delays

This paper is concerned with the problem of robust adaptive output fuzzy tracking control for a class of uncertain nonlinear time-delayed systems with actuator failures, which include loss of effectiveness, outage, and stuck modes. First, a novel disturbance rejection filter is designed to estimate the unmeasured states and the external disturbances. Then, by using fuzzy logic systems to approximate the suitable nonlinear compound functions, the corresponding adaptive fuzzy fault-tolerant controller with the adjustable parameter updated laws is established based on back-stepping method. Furthermore, it is shown that all the closed-loop signals are bounded, and the system output tracking error can converge to a small neighborhood in the presence of parameter uncertainty, mismatched disturbance, multiple time delays, and actuator faults. Finally, simulation results are provided to illustrate the efficiency of the proposed adaptive fuzzy tracking control scheme.