Adaptive fault-tolerant finite-time control of nonlinear systems based on tuning functions

This article discusses the tracking problem of adaptive fault-tolerant finite-time control (AFFC) for a class of strict-feedback nonlinear systems with unmatched disturbances. Unlike most of the existing results, fault-tolerant control is combined with finite-time control, adaptive control and tuning functions. The significant virtue of the combination of these schemes lies in the improvement of the system's reliability, rapidity and robustness. This article uses tuning functions to deal with the problem of the over-parameterization in the traditional backstepping method. The proposed AFFC scheme ensures that the closed-loop system is semi-globally practically finite-time stable in the presence of sensor/actuator faults, and the tracking error converges to a small neighborhood near the origin in finite time. Finally, the effectiveness of the proposed control strategy is verified by the simulation example.