Supervisory fault-tolerant regulation for nonlinear systems

This paper focuses on the fault-tolerant output regulation problem for nonlinear systems with faults generated by exogenous systems that belong to a certain pre-specified set of models. The novelty is to design a fault-tolerant control (FTC) scheme for the overall system process where different faults may occur respectively at different time instants of the process, which is called the successional faulty case. The proposed FTC framework relies on a simple supervisory switching among a family of pre-computed candidate controllers. The output regulation goal is maintained in such a successional faulty case. A DC motor example illustrates the efficiency of the proposed method.