PI-like Fault-tolerant Control of Nonaffine Systems with Actuator Failures

This work investigates the tracking control problem of nonaffine dynamic systems in the presence of modeling uncertainties and unpredictable actuation failures. Under the mild Lipschitz condition, a low-cost and user-friendly PI-like control scheme is developed without involving time-consuming “trial and error” process for determining control gains as with traditional PI control. Furthermore, the proposed control is fault-tolerant in that stable tracking stability is still maintained without the need for re-adjusting control parameters even if the actuator loses its actuation effectiveness during system operation.