Optimal Timing Fault Tolerant Control for Switched Stochastic Systems with Switched Drift Fault

In this article, an optimal timing fault tolerant control strategy is addressed for switched stochastic systems with unknown drift each switching point. The proposed controllers in existing schemes are not directly aimed at the system, which affects performance. A cost functional system state information and variable constructed. By solving time criterion, can accommodate fault. variational technique presented function deriving gradient formula. Then, calculated by combining Armijo step-size descent algorithm. Finally, effectiveness of controller design scheme proved safe trajectory planning a four wheel drive mobile robot numerical example.