Decentralized adaptive fault-tolerant control of interconnected systems with sensor faults

The paper considers a class of interconnected nonlinear systems with unknown sensor faults and uncertain interactions. Each subsystem is subject not only to the local sensor faults but also to the possible effects of faults from other subsystems through uncertain interactions. Both multiplicative and time-varying additive sensor faults are taken into consideration, which are allowed to be unknown. A decentralized adaptive fault-tolerant control (FTC) scheme has been established. To eliminate the effects of faults in the control loop, several auxiliary quantities are constructed wisely and estimated by the designed adaptive mechanism. A smooth function is proposed, by which the uncertain interactions can be compensated even if they are coupled with sensor faults. It is proved that, by using only the corrupted states, all the closed-loop signals are globally uniformly bounded, and the output tracking error converges into an adjustable residual set. Finally, simulation and comparison studies are presented to illustrate the effectiveness of the proposed scheme.