Decentralized Adaptive Fault-Tolerant Control for Complex Systems with Actuator Faults

In this paper, an adaptive fault-tolerant control scheme is extended to large-scale interconnected systems with actuator failures and external disturbances. Based on Lyapunov stability theory, a state feedback decentralized controller is designed to compensate for the fault and the disturbance effects, using the overlapping decomposition method. Applying the inclusion principle, the interconnected system is expanded in order to become disjoint subsystems. An adaptive controller is then synthesized separately for each obtained subsystem. The decentralized controller, designed for the expanded system, is finally contracted back to be implemented in the original space. An example of application illustrates the theoretical results and provides a comparative study with other robust and fault-tolerant methods.