Adaptive fault-tolerant control of switched nonlinear systems based on tuning function method

This paper solves the problem of adaptive fault-tolerant control of uncertain switched nonlinear systems with unknown parameters and actuator failures. Based on the multi-Lyapunov function method, a novel adaptive switched controller with tuning function is designed using the backstepping procedure. Meanwhile, a switched fault-tolerant adaptation mechanism is also given to compensate the fault efficiency. Furthermore, it is certificated that all the signals of the closed-loop system are uniformly bounded and the tracking error restrain to a small neighbor. Finally, the simulation results verify the feasibility of the proposed method.