Adaptive Fuzzy Fault-Tolerant Control for a Class of Nonlinear Systems under Actuator Faults: Application to an Inverted Pendulum

This work investigates a fuzzy direct adaptive fault-tolerant Control (FFTC) for class of perturbed single input output (SISO) uncertain nonlinear systems. The designed controller consists two sub-controllers. One is an unit, and the other robust whereas unit devoted to getting rid dynamic uncertainties along with actuator faults, while second one developed deal approximation errors exogenous disturbances. It proved that proposed approach ensures good tracking performance against faults occurring, uncertainties, disturbances, stability study closed-loop regarding Lyapunov method in order prove all signals remain bounded. Simulation results are presented illustrate accuracy technique.