Adaptive Actuator Fault Compensation for Nonlinear Time-Delay Systems

This paper deals with the problem of adaptive fault-tolerant control against unknown actuator faults for a class of disturbance driven nonlinear time-delay systems. The actuator faults are types of loss of effectiveness. The aim is to find an adaptive fault tolerant controller, such that the system is not only stabilized, but also the state vectors of normal and fault cases with disturbance track that of the normal case without disturbance, which has the designed performance. A new delay-dependent adaptive law is proposed to design the adaptive reconfigurable controller, which is excited to offset the effect of faults and disturbance automatically without the need for an FDI mechanism. Numerical and simulation results are provided to demonstrate the effectiveness of the proposed adaptive controller.