Fault Estimation and Robust Fault-tolerant Control for Singular Markov Switching Systems with Mixed Time-Delays and UAV Applications

Abstract

In this paper, the robust fault-tolerant control for a class of uncertain Markov switching singular complex systems with mixed time-delays is studied. It is assumed that there are multiple fault conditions such as sensor faults, actuator faults, and external disturbances. Simultaneous estimation of state, sensor faults and actuator faults is achieved by building the adaptive observer, which can detect system states and faults online in real time. In order to make the system still well controlled under sensor and actuator failures, a robust fault-tolerant controller based on control law compensation and fault signal reconstruction is designed to ensure the stability of Markov switching singular complex systems. Finally, the feasibility of the method designed is proved by a numerical simulation example, and it is applied to the UAV lateral motion system to verify the effectiveness.