Robust adaptive fault-tolerant tracking control of uncertain piecewise affine systems

This article focuses on the reliability of the piecewise affine systems under actuator failures and uncertainties, where these factors may cause system performance degradation or even instability. Specifically, the actuator failures are described by loss of effectiveness faults and bias faults. Utilising the tracking error, the system state and the external input of the reference model, the adaptive update mechanisms are constructed. In order to overcome the difficulty of controller design caused by the simultaneous presence of actuator failure and system uncertainties, an auxiliary control gain is integrated into the adaptive compensation fault tolerant tracking controller. Besides, under the framework of the switching system theory, all signals of the closed-loop systems can be proved to be bounded if the average dwell time meets certain condition. Finally, the proposed robust adaptive fault-tolerant tracking control protocol is demonstrated by an example.