Adaptive tracking control for actuator failure compensation based on MT-filters

This paper considers the problem of actuator failure compensation for a class of nonlinear systems in the form of output-feedback. MT-filters are exploited to estimate the unmeasured states. The backsteppping technique is used to construct the controller recursively. The proposed compensation scheme can grantee the boundedness of all the closed-loop signals and asymptotic output tracking. The theoretical results are illustrated by a simulation example.