A Reconfiguration-Based Fault-Tolerant Control Method for Nonlinear Uncertain Systems

This note addresses reconfiguration-based fault-tolerant control with robust guaranteed performance for nonlinear uncertain systems under actuator faults. A PAssive/ACTive combined fault-tolerant control method is proposed based on reliable control, which synthesizes the advantages of the active and passive fault-tolerant control and strikes a balance between the performance and complexity of the method. Moreover, the reliability overcost of this method is reduced to balance the system nominal performance and reconfigurability. In this procedure, the $\theta$ -D method is used to solve the Hamilton-Jacobi-Bellman and generalized Hamilton-Jacobi-Bellman equations. Effectiveness of the proposed method is verified by a numerical example.