Fault-tolerant control for nonlinear switched systems with unknown control coefficients and full-state constraints

Abstract

This paper investigates the adaptive fault-tolerant control problem for a class of uncertain nonlinear switched systems with unknown control coefficients, full-state constraints and actuator failures. To surmount the design difficulty from full-state constraints, we construct the switched barrier Lyapunov function mechanism. At the same time, the lower bound of unknown control coefficients is introduced to solve the problem of unknown control coefficients. Meanwhile, the trouble caused by actuator failures is compensated by switched controller and adaptive law. Furthermore, the tracking error asymptotically converges to zero is guaranteed and all signals in the closed-loop system are bounded. In addition, the full-state constraints are not violated. Finally, the effectiveness of the proposed approach is verified by simulation examples.