Robust Fault-Tolerant Control for a Class of Uncertain Switched Nonlinear Systems

The problem of robust fault-tolerant control for a class of switched nonlinear systems with structural parameters uncertainty and unknown nonlinear disturbance is studied. The purpose is to design individual state feedback controller by means of common Lyapunov function to guarantee globally asymptotic stability under arbitrary switching. In the case of actuator failures, a pre-specified failure set of actuators is introduced and the closed-loop systems are shown to be globally asymptotically stable for all possible actuator failures. Finally an illustrative example is used to demonstrate the feasibility of the proposed approach to design.