Adaptive Fault Tolerant Control for a Class of Nonlinear Switched Systems

Abstract

This paper studies the adaptive fault-tolerant control problem for a class of switched systems under arbitrary switchings between two uncertain nonlinear strict-feedback subsystems. Through using backstepping techniques, two adaptive state feedback control approaches are presented, where unknown switching parameters are directly estimated via switched adaptive laws. A new trajectory initialization method is proposed, where the adaptive parameters are reset by exploiting the previous estimation information. By constructing a special Lyapunov function, the global stability and asymptotic tracking of the closed-loop system are achieved in the presence of actuator faults. Furthermore, the prescribed performance method is introduced in the second control approach to improve the transient performance of the first approach. Finally, two examples are presented to show the effectiveness of the proposed approaches.

Keywords

• Adaptive tracking control
• switched nonlinear systems
• trajectory initialization
• common Lyapunov function
• prescribed performance bound