In this paper, an output-feedback adaptive control scheme is proposed for a class of multi-input multi-output (MIMO) nonlinear systems, aiming at tolerating unknown actuator faults and unknown sensor faults simultaneously. The number of actuator faults is allowed be infinity, while the sensors may suffer from bias and gain variation all the time. By constructing an auxiliary filter and estimating the bounds of the fault uncertainties, the effects of the faults are successfully compressed. Also, the difficulty related to the high-frequency gain matrix is circumvented by introducing a matrix factorization and a similarity transformation. The proposed scheme is able to ensure that all closed-loop signals are globally uniformly bounded and the tracking error converges to a residual set exponentially. Simulation results illustrate the effectiveness of the proposed scheme.

针对一类多输入多输出（MIMO）非线性系统，提出了一种输出反馈自适应控制方案，旨在同时容忍未知的执行器故障和未知的传感器故障。执行器故障的数量是无限的，而传感器可能始终会受到偏置和增益变化的影响。通过构造一个辅助滤波器并估计故障不确定性的范围，可以成功地压缩故障的影响。另外，通过引入矩阵分解和相似度变换来避免与高频增益矩阵有关的困难。所提出的方案能够确保所有闭环信号在全局上均匀地有界，并且跟踪误差以指数形式收敛到残差集。