Adaptive Fault‐Tolerant Tracking Control for Nonlinear Systems With Input Hysteresis and Sensor Faults

ABSTRACT This paper investigates the adaptive fault‐tolerant tracking control problem for a class of nonlinear systems with backlash‐like input hysteresis and sensor failures. A novel adaptive control scheme based on multi‐dimensional Taylor network (MTN) is proposed. The backlash‐like hysteresis model is employed to characterize the hysteresis nonlinearity, and its impact on controller design is addressed by transforming the hysteresis model into a linear model with bounded error. Additionally, a cubic absolute value Lyapunov function is adopted to ensure system controllability in the presence of sensor failures. Based on Lyapunov stability theory, it is demonstrated that all signals in the closed‐loop system are bounded and the tracking error converges to an arbitrarily small neighborhood around the origin. Finally, the simulation studies have been conducted to validate the effectiveness and superiority of the proposed control scheme.