Fault-tolerant Control and Disturbance Attenuation of a Class of Nonlinear Systems with Actuator and Component Failures

This paper investigates the stabilization problem of a class of nonlinear dynamic systems with actuator and component failures as well as external disturbances. New fault-tolerant control algorithms are derived without the need for analytically estimating bound on actuator failure variables, and thus the resultant control scheme has simpler structure and demands less online computations as compared with most existing methods. It is shown that with the proposed control, both actuator and subsystem/component failures can be accommodated, and the state dependent growth disturbances can be effectively attenuated. The algorithm is validated via a formative mathematical analysis based on a Lyapunov approach and numerical simulations in the presence of external disturbances, parametric uncertainties, as well as severe actuator/subsystem failures.