Adaptive Fault-Tolerant Control of Uncertain Switched Nonaffine Nonlinear Systems With Actuator Faults and Time Delays

This paper addresses the adaptive fault-tolerant control (FTC) problem of uncertain switched nonaffine nonlinear systems with actuator failures and time delays. Unlike the literature employing the FTC methods, the novel nonlinear fault compensate function with adjustable parameter factor, whose norm is used for approximation with fuzzy logic systems, is constructed based on the mean value theorem. Accordingly, a standard transformation scheme from the multi-input and single-output nonaffine nonlinear system to the corresponding affine nonlinear system is first to be given; then, the designed adaptation mechanism with state-dependent switching strategy can effectively eliminate the effects of multiple time delays and actuator faults, including outage and stuck modes. Furthermore, by using the Lyapunov-Krasovskii stability analysis method, it is proved that the proposed adaptive switched controller can guarantee the states of the overall closed-loop systems to asymptotically converge to zero. Finally, the simulation results are displayed to verify the feasibility of the presented approach.