ADRC Fault-Tolerant Control Of Uncertain Time-delay Switched Systems

With the development of science and technology, if only rely on the traditional control algorithm to research about complex systems, it can not meet the requirement of the complex system control already, therefore, the complex scientific methods was put forward. Switching system is a kind of special and important hybrid system put forward from the angle of the control of scientific research, it is also a frontier hotspot in the research of the hybrid system theory research direction. In engineering practice, the uncertainty and disturbance exists in many practical systems, they are the root cause of the oscillations and instability in the system. As a result of the existence of uncertainty and disturbance, what's worse, it not only reduces the performance of the system, and lead to system instability. In the present complex systems, the studies of uncertain nonlinear switched systems has become an international front direction.Immunity controller is a kind of new type controller, it is mainly used for automatic test system real-time estimating and giving active compensation model and disturbances. In recent years, the studies of the immunity control theory has been reported for a lot of times, such as the actuator fault tolerant control of AUV based on the immunity, the immunity control for large time delay system and so on. In recent years, the improved immunity control for Quadrotor unmanned helicopter attitude control was put forward, which shows that the immunity controller can realize the strengthen control for helicopter attitude, and it has good robustness. In order to improve the reliability of the system, faulttolerant control has been proposed as an effective new way. Aimed at the study of uncertain nonlinear switched systems, the application of fault tolerant control improves the reliability and security of the system. Therefore, for research of the reliable stability uncertain for nonlinear switched systems, combining theimmunity control and fault tolerant control is an effective way to solve such problems.In this paper a class of uncertain nonlinear switched systems was studied,which combines the control theory of immunity and fault-tolerant control theory.In the case of actuator failures, throughout transforming multiple Lyapunov function to solving the corresponding linear inequalities, and using the nonlinear extended state to observe the uncertain time-varying disturbance, we track the output of the control system, then we get a sufficient conditions to make the switched systems to get to robust stability gradually, at the same time, we can also get the corresponding control law, which can ensure that the system can still run normally under the stated switching law. We use numerical simulation calculation example to verify its effectiveness.Finally, the work of this paper content was summarized and the defects existing in the practical engineering was proposed.