Prescribed performance incremental adaptive optimal fault-tolerant control for nonlinear systems with actuator faults

In this paper, a model-free incremental adaptive optimal fault-tolerant controller with prescribed performance is proposed for nonlinear systems subject to actuator faults. Considering the system actuator redundancy, an actuator grouping scheme is introduced according to the actuator functions. An incremental adaptive fault observer is designed to estimate the faults. The recursive least squares (RLS) identification is utilized to identify the incremental system parameters. Both dynamic process requirements and optimal performance index of the closed loop system are taken into consideration by combining prescribed performance bound (PPB) and incremental adaptive dynamic programming (IADP). Simulations are given to verify the effectiveness of the proposed IADP reconfigurable fault-tolerant control scheme.