Abstract
A low-complexity design strategy is proposed to ensure the decentralized fault-tolerant tracking quality of a class of uncertain switched interconnected nonaffine nonlinear systems. All system nonlinearities, nonlinear interaction faults, and actuator faults are arbitrarily switched and unknown. Compared with the existing decentralized tracking results, a universal decentralized tracking strategy is recursively provided to deal with asynchronously switched nonlinear interconnections and their faults, without requiring the signs of control coefficient functions and employing any fault compensators using adaptive nonlinear function approximators. Using the common Lyapunov function method, it is shown that the local tracking errors are maintained within preselected time-varying bounds regardless of arbitrary switched faults.
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