Adaptive Output Feedback Fuzzy Fault-Tolerant Control for Nonlinear Full-State-Constrained Switched Systems
针对一类带有执行器故障和全状态约束的切换不确定非线性系统，提出了一种基于模糊观测器和动态面技术的输出反馈自适应模糊跟踪控制方法，确保所有信号有界且状态保持在约束范围内。
In this article, an output feedback adaptive fuzzy tracking control method for a class of switched uncertain nonlinear systems with actuator failures and full-state constraints is proposed under an arbitrary switching signal combining the dynamic surface technique. Since the state variables of the system under study are not measurable, a fuzzy observer is constructed to identify the unmeasured states. The actuator failures are considered in the system. To compensate this failure, a fault-tolerant controller is proposed. Moreover, each state needs to be kept within the constraints, so the tangent Barrier Lyapunov function is selected to solve the full-state constraint problem, and the unknown nonlinear function is approximated by fuzzy-logic systems (FLSs). We also proved that all signals in the closed-loop system are bounded. Furthermore, the states can be kept within the predetermined range even if the actuator fails. Finally, a simulation example is given to verify the effectiveness of the proposed control strategy.