In this paper, a model-free incremental adaptive optimal fault-tolerant controller with prescribed performance is proposed for nonlinear systems subject to actuator faults. Considering the system actuator redundancy, an actuator grouping scheme is introduced according to the actuator functions. An incremental adaptive fault observer is designed to estimate the faults. The recursive least squares (RLS) identification is utilized to identify the incremental system parameters. Both dynamic process requirements and optimal performance index of the closed loop system are taken into consideration by combining prescribed performance bound (PPB) and incremental adaptive dynamic programming (IADP). Simulations are given to verify the effectiveness of the proposed IADP reconfigurable fault-tolerant control scheme.

在本文中，针对执行器故障的非线性系统，提出了一种具有规定性能的无模型增量自适应最优容错控制器。考虑系统执行器冗余，根据执行器功能引入执行器分组方案。设计了一个增量自适应故障观测器来估计故障。递归最小二乘（RLS）识别用于识别增量系统参数。通过将规定的性能界限（PPB）和增量自适应动态规划（IADP）结合起来，考虑了闭环系统的动态过程要求和最佳性能指标。仿真验证了所提出的IADP可重构容错控制方案的有效性。