Output feedback adaptive sensor failure compensation for a class of parametric strict feedback systems

In this paper, an adaptive output feedback compensation control scheme is proposed for a class of nonlinear systems with unknown sensor failures. For estimating the unmeasured states, a novel switching-type adaptive observer is constructed, in which the observer gains are tuned in a switching manner. To compensate for the failure effects on transient performance, a new error signal which contains an adaptive compensation coefficient is introduced into backstepping procedure. It is shown that the proposed controller can guarantee the closed-loop system is globally uniformly ultimately bounded, and system output converges to an adjustable neighborhood of the origin. Simulation results are presented to illustrate the effectiveness of the proposed scheme.