Fault-tolerant control of uncertain non-linear networked control systems with time-varying delay, packet dropout and packet disordering

In this study, the fault-tolerant control (FTC) problem is investigated for a class of uncertain non-linear networked control systems with delay, packet dropout, packet disordering and non-linear modelling uncertainty. The deterministic and stochastic faults are considered simultaneously, wherein the plant and sensor faults are modelled as unknown non-linear functions of the state and the health statuses of the actuators are governed by multiple Markovian processes. By considering Markovian delay and packet dropout, a new packet reordering approach is proposed to cope with packet disordering. By utilising adaptive approximation method and adaptive technique, an FTC scheme composed of an FTC component and a fault diagnosis (FD) component is proposed. A theoretical analysis about the stability properties of the FD and FTC components is established. Using information provided by the FD component, the FTC component ensures the boundedness in probability of tracking error. Finally, a simulation example is exploited to show the effectiveness of the proposed method.