Observer Based Decentralized H Fault Tolerant Control of Interconnected Nonlinear Uncertain Time Delay Systems

In this paper, the uncertain H fault tolerant control approach is investigated for interconnected nonlinear systems with time-varying delays in interconnections based on observers. The time varying delay interactions are considered in both the state and the observation output. Faults invoked in this paper are actuator ones which are modeled as both the loss of effectiveness and lock in place. The considered actuator failure can cover most failures that may occur in actuators of the systems. On the basis of fault estimation information, an observer-based memoryless fault-tolerant controller is designed to guarantee the stability of the closedloop time delay system in terms of linear matrix inequalities (LMIs) via the Lyapunov–Krasovskii approach. Two machine subsystems are considered as numerical examples which consisted of highly nonlinear interconnections. These subsystems are employed to verify the validity and the effectiveness of the obtained results in the case of actuator failures