Robust adaptive fuzzy fault-tolerant control for a class of non-lower-triangular nonlinear systems with actuator failures

Huanqing Wang, Xiaoping Liu, Peter Xiaoping Liu, Shuai Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

54 Citations (Scopus)


In this paper, the problem of adaptive fuzzy fault-tolerant tracking control is studied for a class of non-lower-triangular nonlinear systems with actuator failures. According to the same structure of virtual control inputs and the monotonously increasing property of the bounding functions, a variable separation approach is proposed. By applying the backstepping technique, an adaptive fuzzy control approach is presented which can guarantee the semi-global boundedness of all signals within the closed-loop system. The tracking error using the proposed control scheme eventually converges to a small neighborhood of the origin.
Original languageEnglish
Pages (from-to)60-74
Number of pages15
JournalInformation Sciences
Publication statusPublished - 1 Apr 2016


  • Actuator failures
  • Adaptive fuzzy control
  • Backstepping
  • Non-lower-triangular nonlinear systems

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Theoretical Computer Science
  • Computer Science Applications
  • Information Systems and Management
  • Artificial Intelligence

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