Performance-based Fault-tolerant Control for Uncertain Nonlinear Systems with Actuator Failures

In this paper, a performance-based fault-tolerant control method is proposed, whose purpose is to ensure stable operation even at the failure situation. A prescribed performance function-based supervision mechanism is proposed, which can detect the occurrence of an extreme failure. Also, a control strategy with low computational complexity is proposed, which can recover the system performance to its original level within a preset time after an extreme failure. Furthermore, its effectiveness is verified through the simulation.