Abstract
In this paper, an observer-based fault tolerant control (FTC) approach is proposed for hybrid systems with uncontrollable state dependent switching, parametric uncertainties and without full continuous state measurements. Two kinds of faults are considered: continuous faults that affect each mode; discrete faults that affect the mode transition. A novel observer is designed for each mode whose estimation error is not affected by continuous faults and sensitive to mode transitions, then, an observer-based fault tolerant tracking controller is constructed to maintain the hybrid system's satisfactory performance in spite of faults and uncertainties. The proposed method is applied to longitudinal control of automated vehicles.
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