This paper presents a framework for actuator fault accommodation using a multiple-model-based direct adaptive control approach that does not include explicit fault detection and isolation. This approach does not require exact information about the controlled system and persistent input excitations. The method can increase robustness and provides stable adaptation of unknown faults. Asymptotic model following conditions and adaptive rules are derived and system stability is guaranteed, while appropriate switching of the multiple models ensures asymptotic tracking for system outputs. An aircraft model is given to illustrate the efficiency of the proposed method.
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