Tracking differentiator-based adaptive fault-tolerant control for stochastic nonlinear systems

Abstract

By incorporating a tracking differentiator (TD) design into the traditional adaptive backstepping technique, a novel adaptive fault-tolerant control (FTC) scheme is proposed for a family of stochastic nonlinear systems in the presence of multiplicative, additive and stuck actuator faults in this paper. It is shown that under the constructed controller, the boundedness of the closed-loop signals in probability is ensured, and the convergence of the system output to the desired tracking signal is achieved well, whereas the problem of 'explosion of term' is also compensated. In the end, two simulation examples are included to demonstrate the effectiveness of the proposed FTC scheme.