Adaptive fault tolerant control for a class of switched nonlinear systems with unknown control directions

摘要

This paper studies the problem of adaptive fault tolerant control for a class of switched nonlinear systems with unknown control directions. Through a coordinate transformation, an equivalent system is constructed to eliminate the adverse effects of the unknown control coefficients. Then combining with fuzzy approximation and backstepping design principle, an adaptive fault tolerant control scheme is proposed. Further, by constructing common Lyapunov functions, it is proved that closed-loop system is bounded and the tracking error remains in a neighborhood of the origin. The given simulation example demonstrates the effectiveness of the proposed control approach.