Decentralized fault diagnosis and fault tolerant control for a class of interconnected nonlinear systems

In this paper, a novel decentralized fault diagnosis and fault tolerant control scheme is proposed for a class of interconnected nonlinear systems where each mode does not need to exchange information with other ones. The couplings' effect among subsystems is analyzed from the global system point of view and is eliminated by using the cyclic small-gain technique. A simulation example of three inverted pendulums illustrates the effectiveness of the proposed method.

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