In this article, an adaptive fuzzy fault-tolerant control problem is investigated for a class of fractional order non-strict feedback nonlinear systems with actuator faults, where the unknown nonlinear functions are approximated by fuzzy logic systems. Within the framework of the backstepping technique we proposed a novel backstepping controller to avoid the algebraic loop problem via the property of fuzzy basis functions. Meanwhile, a compensation term in the form of smoothing functions of conventional control law is utilised to compensate for the effects caused by actuator faults where the number of them is allowed to be infinite. Finally, the fractional Lyapunov stability theory demonstrates that the tracking performance and boundedness of the close-loop systems are achieved in finite time. The simulation results are carried out to validate the effectiveness of the design scheme.

在本文中，研究了一类具有执行器故障的分数阶非严格反馈非线性系统的自适应模糊容错控制问题，其中未知非线性函数由模糊逻辑系统近似。在反推技术的框架内，我们提出了一种新颖的反推控制器，通过模糊基函数的性质来避免代数环问题。同时，利用常规控制律的平滑函数形式的补偿项来补偿由致动器故障引起的影响，其中致动器故障的数量是无限的。最后，分数次Lyapunov稳定性理论证明了闭环系统的跟踪性能和有界性是在有限的时间内实现的。