We proposed a fault-tolerant control scheme based on backstepping for a class of multi-input single-output(MISO) nonlinear output feedback systems with unknown control gain signs and actuator failures.Under the conditions that the states of the systems are unmeasured,we employ Nussbaum function and K-filters to deal with the constant gains with unknown signs and estimate the unavailable states,respectively.In designing the fault tolerant controller,the parts that the virtual control laws cannot counteract a...
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