Adaptive proportional integral derivative fault tolerant control for continuous-time switched systems: A highly maneuverable aircraft technology (HiMAT) vehicle application
Restricted accessResearch articleFirst published online March, 2026
Adaptive proportional integral derivative fault tolerant control for continuous-time switched systems: A highly maneuverable aircraft technology (HiMAT) vehicle application
This article presents an active fault-tolerant tracking control (FTTC) scheme for switched linear systems with unknown external disturbances and actuator faults. First, a switched adaptive observer (SAO) is designed to simultaneously achieve system state and actuator fault estimation. Second, an active fault-tolerant tracking controller with a reconfigurable adaptive proportional–integral–derivative architecture is proposed based on the results of these estimations. This FTTC technique aims to ensure the tracking of a predefined reference trajectory while also compensating for actuator fault effects. In terms of linear matrix inequalities, less conservatism design conditions for the SAO and fault-tolerant tracking controller are obtained by utilizing the average dwell time technique and multiple Lyapunov functions. Finally, an application to the highly maneuverable aircraft technology vehicle is used to prove the benefits of the presented scheme.
Abd LatipSFRashid HusainAMohamedZ, et al. (2019) Adaptive PID actuator fault tolerant control of single-link flexible manipulator. Transactions of the Institute of Measurement and Control41: 1019–1031.
2.
AminAAHasanKM (2019) A review of fault tolerant control systems: advancements and applications. Measurement143: 58–68.
3.
AntsaklisPJ (2000) A brief introduction to the theory and applications of hybrid systems. Proceedings of the IEEE, Special Issue on Hybrid Systems: Theory and Applications88: 879–887.
4.
ChenJPattonRJChenZ (1999) Active fault-tolerant flight control systems design using the linear matrix inequality method. Transactions of the Institute of Measurement and Control21: 77–84.
5.
ChenLZhaoYFuS, et al. (2018) Fault estimation observer design for descriptor switched systems with actuator and sensor failures. IEEE Transactions on Circuits and Systems I: Regular Papers66: 810–819.
6.
DuDJiangB (2016) Actuator fault estimation and accommodation for switched systems with time delay: Discrete-time case. ISA Transactions62: 137–144.
7.
DuDCocquempotVJiangB (2019) Robust fault estimation observer design for switched systems with unknown input. Applied Mathematics and Computation348: 70–83.
8.
DuDWuYYangY, et al. (2022) Actuator fault detection for the discrete-time switched systems based on delta operator approach. Optimal Control Applications and Methods43: 476–494.
9.
ElouniMHamdiHRabaouiB, et al. (2022) Adaptive PID fault-tolerant tracking controller for takagi-sugeno fuzzy systems with actuator faults: Application to single-link flexible joint robot. International Journal of Robotics and Control Systems2: 523–546.
10.
ElouniMHamdiHRabaouiB, et al. (2023a) On the synthesis of an integrated active FTC scheme for continuous-time switched systems with actuator faults. In: 2023 IEEE international conference on advanced systems and emergent technologies (IC_ASET), Hammamet, Tunisia, April 29 to May 1, 2023, pp. 1–7. New York: IEEE.
11.
ElouniMHamdiHRabaouiB, et al. (2023b) Integrated design of fault-tolerant control for a class of switching systems with sensor faults. In: 2023 IEEE 11th international conference on systems and control (ICSC), Sousse, Tunisia, 18–20 December 2023, pp. 829–835. New York: IEEE.
12.
EstradaFLPonsartJCTheilliolD, et al. (2015) Robust H−/H∞ fault detection observer design for descriptor-LPV systems with unmeasurable gain scheduling functions. International Journal of Control88: 2380–2391.
13.
FazeliSMAbediM (2020) An integrated fault estimation and fault tolerant control method using H∞-based adaptive observers. International Journal of Adaptive Control and Signal Processing34: 1259–1280.
14.
FengZMZhangGHanXL (2012) PID fault tolerant control system design with multi-performance indices constraints. In: Proceedings of the 10th world congress on intelligent control and automation, 06–08 July 2012, Beijing, pp. 3286–3291. New York: IEEE.
15.
GahinetPApkarianP (1994) A linear matrix inequality approach to H∞ control. International journal of robust and nonlinear control4: 421–448.
16.
GaoSZhangX (2011) Fault-tolerant control with finite-time stability for switched linear systems. In: 2011 6th international conference on computer science and education (ICCSE), SuperStar Virgo, Singapore, 3–5 August 2011, pp. 923–927. New York: IEEE.
17.
HamdiHRodriguesMMechmecheC, et al. (2012) Robust fault detection and estimation for descriptor systems based on multi-models concept. International Journal of Control, Automation and Systems10: 1260–1266.
18.
HanJZhangHWangY, et al. (2016) Robust fault estimation and accommodation for a class of T–S fuzzy systems with local nonlinear models. Circuits, Systems, and Signal Processing35: 3506–3530.
19.
HouYDongCWangQ (2010) Stability analysis of switched linear systems with locally overlapped switching law. Journal of Guidance, Control, and Dynamics33: 396–403.
20.
HouYWangQDongC (2011) Gain scheduled control: switched polytopic system approach. Journal of Guidance, Control, and Dynamics34: 623–629.
21.
HuHLiuJ (2017) Fault-tolerant control of delta operator switched linear systems with sensor faults based on dynamic output feedback. In: 29th Chinese control and decision conference (CCDC), 28–30 May 2017, Chongqing, China, pp. 4182–4186. New York: IEEE.
22.
IslemLNadiaZAsmaT (2019) Tracking fault tolerant control for hybrid system: Two-link human arm application. Journal of Dynamic Systems, Measurement, and Control141: 051015.
23.
JiangBWangJLSohYC (2002) An adaptive technique for robust diagnosis of faults with independent effects on system outputs. International Journal of control75: 792–802.
24.
JiangJYuX (2012) Fault-tolerant control systems: A comparative study between active and passive approaches. Annual Reviews in Control36: 60–72.
25.
KoenigDNowakowskiSBourjijA (1997) Observers for linear systems with unknown inputs. IFAC Proceedings Volumes30: 479–484.
26.
LadelAABenzaouiaAOutbibR, et al. (2021) Robust fault tolerant control of continuous-time switched systems: An LMI approach. Nonlinear Analysis: Hybrid Systems39: 100950.
27.
LanJPattonRJ (2016) A new strategy for integration of fault estimation within fault-tolerant control. Automatica69: 48–59.
28.
LiJGuoXChenC, et al. (2019) Robust fault diagnosis for switched systems based on sliding mode observer. Applied Mathematics and Computation341: 193–203.
29.
LiJYangGH (2013) Simultaneous fault detection and control for switched systems under asynchronous switching. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering227: 70–84.
30.
LiuYWeiYWangC, et al. (2024) Trajectory optimization for adaptive deformed wheels to overcome steps using an improved hybrid genetic algorithm and an adaptive particle swarm optimization. Mathematics12: 2077.
31.
MileckiANowakP (2023) Review of fault-tolerant control systems used in robotic manipulators. Applied Sciences13: 2675.
32.
NouraHTheilliolDPonsartJC, et al. (2009) Fault-Tolerant Control Systems: Design and Practical Applications. Springer Science and Business Media London: Springer.
33.
RabaouiBHamdiHBraiekNB, et al. (2020) A reconfigurable PID fault tolerant tracking controller design for LPV systems. ISA Transactions98: 173–185.
34.
RabaouiBHamdiHBenHadj BraiekN, et al. (2021) Descriptor observer-based sensor and actuator fault tolerant tracking control design for linear parameter varying systems. International Journal of Robust and Nonlinear Control31: 8329–8352.
35.
RodriguesMTheilliolDSauterD (2006) Fault tolerant control design for switched systems. In: ChristosCAlessandroGCarlaSJananZ (Eds) IPV-IFAC Proceedings of Volume, Analysis and Design of Hybrid Systems 2006, Elsevier, Amsterdam, pp. 223–228.
36.
RodriguesMHamdiHTheilliolD, et al. (2015) Actuator fault estimation based adaptive polytopic observer for a class of LPV descriptor systems. International Journal of Robust and Nonlinear Control25: 673–688.
37.
SaiedMLussierBFantoniI, et al. (2020) Active versus passive fault-tolerant control of a redundant multirotor UAV. The Aeronautical Journal124: 385–408.
38.
SalwaYSaidaBAbderrahimK (2023) Diagnosis and fault tolerant control against actuator fault for a class of hybrid dynamic systems. Measurement and Control56: 1240–1250.
39.
SunZGeSSLeeTH (2002) Controllability and reachability criteria for switched linear systems. Automatica38: 775–786.
40.
WangZZhangBYuanJ, et al. (2018) Robust adaptive fault tolerant control for a class of linearly parameterized uncertain nonlinear systems: An integrated method. Transactions of the Institute of Measurement and Control40: 2129–2140.
41.
XuLWangQLiW, et al. (2012) Stability analysis and stabilisation of full-envelope networked flight control systems: switched system approach. IET Control Theory and Applications6: 286–296.
42.
YangHJiangBCocquempotV (2010) Observer based fault tolerant control for a class of hybrid impulsive systems. International Journal of Robust and Nonlinear Control: IFAC Affiliated Journal20: 448–459.
43.
YangHLiHJiangB, et al. (2018) Fault tolerant control of switched systems: A generalized separation principle. IEEE Transactions on Control Systems Technology27: 1–13.
44.
ZhongGXYangGH (2015) Robust control and fault detection for continuous-time switched systems subject to a dwell time constraint. International Journal of Robust and Nonlinear Control25: 3799–3817.
45.
ZhouLHoDWZhaiG (2013) Stability analysis of switched linear singular systems. Automatica49: 1481–1487.
46.
ZhuYZhengWX (2022) An integrated design approach for fault-tolerant control of switched LPV systems with actuator faults. IEEE Transactions on Systems, Man, and Cybernetics: Systems53: 908–921.
