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This paper addresses the output tracking problem of adaptive fixed-time fault-tolerant control for a class of nonlinear systems. In particular, we focus on two types of actuator faults: lock-in-place and loss of effectiveness. Specifically, a robust adaptive fault-tolerant controller is designed to compensate for the effect of actuator faults. By applying the classical backstepping design algorithm and fixed-time control theory, an adaptive fixed-time controller is developed, ensuring that the tracking error converges into a small neighbourhood around the origin within a fixed time where the convergence time is independent of initial conditions. Theoretical analysis and simulation outcomes prove that the closed-loop system is fixed-time stable and all signals are bounded by choosing the parameters appropriately. The effectiveness and feasibility of the presented control scheme are verified through the simulation results.

Robust adaptive fixed-time control for a class of nonlinear systems with actuator faults