Fuzzy Command Filtered Backstepping Control for Nonlinear System With Nonlinear Faults

This paper investigates command filter backstepping fault-tolerant control for a class of nonlinear systems with nonlinear faults. In particular, the system nonlinear faults are non-affine, which are handled by the filtered signal and fuzzy logic systems approximate Lemma. Command filter is used in this paper, which eliminates the “explosion of complexity” of the classical backstepping and compensates the output of the filter to the derivative of the virtual control. In addition, the controller design procedure has been shown in detail, while the stability of the closed-loop system and the convergence of the tracking error are proved via Lyapunov Theorem. Simulation examples are given to illustrate the feasibility and effectiveness of the proposed scheme.