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Abstract and Applied Analysis
Volume 2014, Article ID 283403, 8 pages
Research Article

Adaptive Fault-Tolerant Tracking Control of Nonaffine Nonlinear Systems with Actuator Failure

1College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2Institute of Information, Jinling Institute of Technology, Nanjing 211169, China
3School of Automation, Nanjing Institute of Technology, Nanjing 211167, China
4School of Electric Power Engineering, Nanjing Institute of Technology, Nanjing 211167, China

Received 16 February 2014; Accepted 26 June 2014; Published 16 October 2014

Academic Editor: Peng Shi

Copyright © 2014 Hongcheng Zhou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes an adaptive fault-tolerant control scheme for nonaffine nonlinear systems. A model approximation method which is a solution that bridges the gap between affine and nonaffine control systems is developed firstly. A joint estimation approach is based on unscented Kalman filter, in which both failure parameters and states are simultaneously estimated by means of the argument state vector composed of the unknown faults and states. Then, stability analysis is given for the closed-loop system. Finally, the proposed approach is verified using a three-degree-of-freedom simulation of a typical fighter aircraft and the significantly improved system response demonstrates the practical potential of the theoretic results obtained.