Fault-tolerant control of switched nonlinear systems with strong structural uncertainties: Average dwell-time method

This paper studies a robust fault tolerant control of a class of nonlinear switched systems with strong structural uncertainties and actuator faults. This paper presents a new robust fault tolerant state feedback method, by using the average dwell time technique to stabilize the switched nonlinear systems exponentially under an arbitrary switching law. Comparing with the existing results, the method of this paper has three features: (1) this method is applicable to the switched nonlinear systems with strong structural uncertainties and faulty actuators and also the nominal case of the considered systems, there is no need to change any structures and/or parameters of the controller. (2) The switching law is arbitrary provided that the average switching is slow enough in the average sense. (3) This method treats all actuators in the same way, no need to separate faulty actuators from the healthy ones. The simulation result verifies the effectiveness of this method.