Adaptive neural fault‐tolerant control of an uncertain 2‐DOF helicopter system with actuator faults and output error constrains

This paper develops an adaptive neural fault-tolerant control for an unknown two-degree of freedom helicopter nonlinear system with output error constraints, actuator fault, and unknown external disturbances. A neural network disturbance observer is used to estimate system uncertainties and actuator gain failures. The tan-type barrier Lyapunov equation is used to solve the system's output error constraint. To compensate for actuator bias failures and unknown external disturbances in the system, an adaptive auxiliary parameter is established. Furthermore, rigorously analyzing the chosen Lyapunov function, the system's stability is ensured. Finally, the numerical simulation results prove the rationality and effectiveness of the proposed control strategy.