On Fault-tolerant Control of Dynamic Systems with Actuator Failures and External Disturbances

This paper extends and improves the existing result on fault-tolerant control (FTC) of dynamic systems with actuator failures and external disturbances in several aspects. More specifically, the proposed method does not involve solving Lyapunov equation that contains time-varying and unknown variables associated with actuator failures; one does not need to analytically estimate the bound on the actuator failure factors in designing and implementing the proposed control scheme; the developed FTC is able to attenuate both bounded and unbounded external disturbances under actuator failures. To some extent, the results presented here include the existing results as a special case and the resultant control algorithms are fault-independent in that there is no need for explicit fault information in terms of its magnitude (size), or time instance of the fault occurrence, thus, is more user-friendly for control design and more feasible for implementation as compared with the existing work.