Abstract

This article presents an active fault-tolerant tracking control (FTTC) scheme for switched linear systems with unknown external disturbances and actuator faults. First, a switched adaptive observer (SAO) is designed to simultaneously achieve system state and actuator fault estimation. Second, an active fault-tolerant tracking controller with a reconfigurable adaptive proportional–integral–derivative architecture is proposed based on the results of these estimations. This FTTC technique aims to ensure the tracking of a predefined reference trajectory while also compensating for actuator fault effects. In terms of linear matrix inequalities, less conservatism design conditions for the SAO and fault-tolerant tracking controller are obtained by utilizing the average dwell time technique and multiple Lyapunov functions. Finally, an application to the highly maneuverable aircraft technology vehicle is used to prove the benefits of the presented scheme.

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