Fault-Tolerant Control of a Class of Switched Nonlinear Systems With Structural Uncertainties

This brief considers fault-tolerant control of a class of uncertain switched nonlinear systems against partial actuator failures. This brief first presents a fault-tolerant control method by using the common Lyapunov function technique and then applies it to haptic display systems. Compared to the relevant literature results, this proposed method is: 1) invariant to actuator fault modes, in the sense that the proposed controllers are completely independent from the fault modes, and 2) independent of switching policies under certain conditions. Simulation studies on a practical haptic display system with switched virtual environments are carried out to demonstrate the effectiveness of the proposed method.

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