Adaptive fault-tolerant control for a class of nonstrict-feedback nonlinear systems with unmodeled dynamics and dead-zone output using multi-dimensional taylor networks

This paper presents an adaptive fault-tolerant control method for nonstrict-feedback nonlinear systems with unmodeled dynamics and output dead-zone in the presence of actuator faults. A dynamic signal is used to handle the unmodeled dynamics and a multi-dimensional Taylor network (MTN) to approximate unknown functions. The presented adaptive fault-tolerant control method ensures that all signals in closed-loop systems are semi-globally uniformly ultimately bounded (SGUUB) by applying the Lyapunov stability theory. It also guarantees that the tracking error will eventually converge to a bounded region around the origin. Finally, a numerical example and a real-world application of a one-link manipulator system are used to illustrate the effectiveness of the proposed control approach.