This paper studies the problem of observer‐based finite time adaptive fault tolerant control for nonaffine nonlinear systems with actuator faults and disturbances. Based on mean value theorem and convex combination method, a adaptive neural observer with virtual control coefficients is designed to estimate the systems states. Then, by using funnel Lyapunov function and backstepping method, a finite time control scheme is designed in the presence of disturbances and actuator faults. The stability analysis proves that tracking errors can converge to the prescribed performance bound in a finite time and all signals are uniformly ultimately bounded. Finally, simulation results verify efficiency of the studied approach.

中文翻译：

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具有执行器故障和干扰的非仿射非线性系统基于观测器的有限时间自适应容错控制

本文研究了具有执行器故障和干扰的非仿射非线性系统基于观测器的有限时间自适应容错控制问题。基于均值定理和凸组合法，设计了具有虚拟控制系数的自适应神经观测器，以估计系统状态。然后，通过使用漏斗Lyapunov函数和后推法，设计了存在干扰和执行器故障的有限时间控制方案。稳定性分析证明，跟踪误差可以在有限的时间内收敛到规定的性能范围，并且所有信号最终都均匀地受到限制。最后，仿真结果验证了所研究方法的有效性。