Adaptive Optimal Fault-Tolerant Control for Strict-Feedback Nonlinear Systems Based on Zero-Sum Differential Game

This paper analyzes the adaptive optimal fault-tolerant control issue for a class of strict-feedback nonlinear systems with bias faults based on zero-sum differential game. A novel adaptive optimal controller is created by employing the adaptive backstepping technique, viewing the control input and the bias fault as two players in a zero-sum game, and using the adaptive dynamic programming method to obtain Nash equilibrium point, which ensure that all closed-loop signals are uniformly bounded, the tracking performance of the system, and the system's optimum performance. Finally, the simulation results demonstrate the validness of this control scheme.