Adaptive Fault‐Tolerant Tracking Control for Nonlinear Systems Under Actuator Saturation and Multi‐Sensor Faults With Finite‐Time Prescribed Performance Guarantees

ABSTRACT This study addresses the challenge of adaptive tracking control in a specific category of nonlinear systems, taking into account both sensor errors and actuator saturation, using a finite‐time prescribed power function for improved control accuracy and system stability. An adaptive tracking control strategy leveraging the multi‐dimensional Taylor network (MTN) is proposed to effectively tackle sensor faults and actuator saturation challenges. In contrast to conventional controller design approaches, the finite‐time performance function and the third‐order absolute Lyapunov function used in this paper can ensure that the system is always in a controllable state even if a sudden sensor fault occurs during stable operation. The obtained results indicate that the designed controller successfully ensures the boundedness of all closed‐loop system signals while achieving finite‐time convergence of the tracking error to a predetermined region. The simulation studies have been conducted to validate the effectiveness and superiority of the proposed control scheme.