Fixed-time adaptive fault-tolerant control for uncertain switched nonlinear systems without singularity

This paper investigates the fixed-time fault-tolerant tracking control for uncertain switched nonlinear systems with actuator faults, including loss of effectiveness and time-varying bias faults. By employing the backstepping approach, neural networks-based estimators, adaptive technique, and fixed-time stability theory, a fixed-time adaptive fault-tolerant tracking controller is developed. In comparison with the previous achievements, the generated controller can deal with the fault-tolerant problem without prior knowledge of the actuator fault for the switched system while the practically fixed-time stability is necessary. Besides, the ”explosion of complexity” and ”singularity” problems can be avoided. Under the proposed controller, the fixed-time tracking performance of the closed-loop system is analyzed with rigorous theoretical proof. Finally, numerical examples are carried out to show the performance of the proposed controller.