Alarm‐Based Hybrid Fault‐Tolerant Control Approach for Uncertain Markovian Jump System With Actuator Constraints and Suddenly Occurring Structural Failures

This paper addresses the issue of alarm‐based hybrid fault‐tolerant control for Markovian jump systems with uncertainty, in which there may exist actuator and structural failures. Through the integration of passive, observer‐based active, and adaptive fault‐tolerant control techniques, the effect of actuator partial failure, actuator bias failure, and structural failure can be separately attenuated. Moreover, an alarm‐based multi‐threshold system is designed to invoke the suitable control strategy. Finally, to prove the practical applicability of the given method, a single‐link robot arm system is presented, with results confirming the theoretical findings.