Adaptive Fuzzy Backstepping Fault-tolerant Control for Uncertain Nonlinear Systems Based on Dynamic Surface

An adaptive fuzzy fault-tolerant control design scheme for a class of perturbed and strict feedback nonlinear systems with actuators faults is proposed. The fuzzy logic systems are used to approximate to the nonlinear functions and the fault functions of systems. The continuous robust term is adopted to minimize the influence of modeling error or disturbance. Meanwhile, the dynamic surface control technique is incorporated into the backstepping design framework, therefore, the ”explosion of complexity” problem is avoided. It is proved that the closed-loop system is semi-global uniformly ultimately bounded, with tracking error converging to a residual set in the presence of the faults. Simulation results demonstrate the effectiveness of the proposed approach.