Output-feedback fault tolerant control for nonlinear systems with control input constrains

The active fault tolerant control is investigated for a class of nonlinear systems with actuator faults and magnitude constraint in the control input. The abrupt faults in the gain matrix of actuators are modeled to be the constant type. Based on the Lyapunov theory and linear matrix inequality technique, the iterative design method for reconfigurable fault tolerant controller is proposed by using static output feedback strategy, such that the corresponding closed-loop system is robust stable with the given magnitude constraints in the control input. Meanwhile, other control performances, such as disturbance rejection and quadratic cost function, are optimized to approach the performance in normal case as soon as possible. The simulation results of numerical example indicate the validity of the proposed fault tolerant control strategy.