A Hierarchical Fault Diagnosis and Cooperative Fault-Tolerant Control for a Class of Switched Nonlinear Systems

This paper investigates a hierarchical fault diagnosis and cooperative fault-tolerant control framework for switched nonlinear systems. Initially, an analysis of fault recoverability based on an improved covariance matrix is incorporated into the fault diagnosis and fault-tolerant control mechanisms. Subsequently, a cooperative fault-tolerant control architecture is proposed, incorporating both mode-independent fault-tolerant control and overall switching fault-tolerant control for switched systems. For modes with recoverable faults, a fault-tolerant controller based on model reference adaptive control is designed to handle faults. Conversely, for modes with unrecoverable faults, a mode-dependent average dwell time method is used to design the switching law to stabilize the switched system. Finally, the reliability of the proposed theory is demonstrated through a numerical simulation case and a simulation example of a quadrotor unmanned air vehicle.