Robust Adaptive Fault Tolerant Controller Design with Loss of Actuators effectiveness for Nonlinear Systems in presence of Disturbances

In this paper, direct adaptive output feedback control schemes are developed to solve the robust Fault-Tolerant Control (FTC) problem for nonlinear Lipchitz systems with loss of actuator effectiveness and external disturbances. A class of robust adaptive output feedback controllers is constructed for automatically compensating the fault and the disturbance effects based on the information from the adaptive schemes. On the basis of Lyapunov stability theory, and with a constructive algorithm based on Linear Matrix Inequality (LMI) is presented for FTC design is shown that the resulting adaptive closed-loop system can be guaranteed to be asymptotically stable in the presence of faults on actuators and disturbances. The merit of purposed control scheme has been verified by the simulation on the quadruple tank process subjected to the actuator loss of effectiveness.