Observer-Based Composite Adaptive Fuzzy Control for Nonstrict-Feedback Systems With Actuator Failures

This paper studies the observer-based adaptive fuzzy tracking control problem for a general class of multi-input-single-output nonstrict-feedback systems subject to unmeasured states and actuator failures. For actuator failures, both cases of lock-in-place and loss of effectiveness are synchronously considered. To handle the unknown nonlinear functions, fuzzy logic systems are employed. By constructing a fuzzy observer and a serial-parallel estimation model, the unmeasured states are estimated and the accuracy of approximating the unknown functions is improved. Moreover, taking into account the prediction error between the fuzzy observer and the serial-parallel estimation model, a novel composite fuzzy output-feedback control scheme is developed. Unlike some existing control schemes for systems with actuator failures, the developed control scheme allows one to avoid the problem of "explosion of complexity" and improve the approximation performance. It is proved that all signals in the system are bounded and the tracking error converges to a small neighborhood of the origin by choosing appropriate parameters. Finally, the effectiveness of the proposed method is confirmed via simulation examples with actuator failures.