Observer-based finite time adaptive fault tolerant control for nonaffine nonlinear systems with actuator faults and disturbances

This paper studies the problem of observer-based finite time adaptive fault tolerant control for nonaffine nonlinear systems with actuator faults and disturbances. Based on mean value theorem and convex combination method, a adaptive neural observer with virtual control coefficients is designed to estimate the systems states. Then, by using funnel Lyapunov function and backstepping method, a finite time control scheme is designed in the presence of disturbances and actuator faults. The stability analysis proves that tracking errors can converge to the prescribed performance bound in a finite time and all signals are uniformly ultimately bounded. Finally, simulation results verify efficiency of the studied approach.