Fault‐tolerant control of singularly perturbed systems with actuator faults and disturbances

The paper proposes several fault-tolerant control (FTC) laws for singularly perturbed systems (SPS) with actuator faults and disturbances. On of the main challenges in this context is that the fast-slow decomposition is not available for actuator faults and disturbances. In view of this, some conditions for the asymptotic stability of the closed-loop dynamics are investigated by amending the composite Lyapunov approach. On top of this, a closed-form expression of the upper-bound of singular perturbation parameter (SPP) is provided. Moreover, we design several SPP-independent composite FTC laws which can be applied when this parameter is unknown. Finally, the chattering phenomenon is eliminated by using the continuous approximation technique. We also emphasize that, for linear SPSs, the FTC design can be formulated as a set of linear matrix inequalities while the SPP upper-bound can be obtained by solving a convex optimization problem. Two numerical examples are given to illustrate the effectiveness of the proposed methodology.