L₂-gain analysis and fault-tolerant control for uncertain nonlinear switched system with actuator saturation and time-varying delay

For the nonlinear continuous-time switched system with input saturation and time-varying delay, the problem of actuator failure is investigated in the presence of external disturbances. First, the sufficient conditions for the tolerance disturbances of system are obtained by using the multiple augmented Lyapunov Krasovskii functionals method combined with the Wirtinger integral inequality method and the reciprocally convex combination inequality. Second, the restricted L-2-gain is analyzed. Third, the switching law and the disturbance suppression fault-tolerant controllers are designed to obtain the maximum value of tolerance disturbance and the minimum upper bound on the restricted L-2-gain. Finally, the numerical examples are given to verified the effectiveness of the proposed method by comparing the state trajectories under the action of the fault-tolerant controllers and the standard controllers.