Tracking Fault-Tolerant Control for a Class of Switching Systems with Sensor Faults

Abstract

This paper tossed a challenge of developing a novel active fault-tolerant control scheme for switching systems subject to exogenous disturbances and sensor faults. The proposed method is based on a reconfiguration mechanism that uses a mixed $${H_\infty }/{{H}}_{-} $$ formulation to design a robust state feedback FTC. This later is designed through a convex optimization technique which leads to solve linear matrix inequalities. Indeed, the main idea presented in this work is to develop an observer-based controller able to detect with accuracy the instant of fault occurrence, to compensate for the fault effect and to minimize the tracking error for all bounded reference inputs. To illustrate the efficiency of the tracking FTC scheme, extensive simulation results carried on a two-link robot arm are included.