This article synthesizes a recursive filtering adaptive fault‐tolerant tracking control method for uncertain switched multivariable nonlinear systems. The multivariable nonlinear systems under consideration have both matched and mismatched uncertainties, which satisfy the semiglobal Lipschitz condition. A piecewise constant adaptive law generates adaptive parameters by solving the error dynamics with the neglection of unknowns, and the recursive least squares is employed to minimize the residual error by categorizing the total uncertainty estimates into matched and mismatched components. A filtering control law is designed to compensate the actuator faults and nonlinear uncertainties such that a good tracking performance is delivered with guaranteed robustness. The matched component is canceled directly by adopting their opposite in the control signal, whereas a dynamic inversion of the system is performed to eliminate the effect of the mismatched component on the output. By exploiting the average dwell time principle, the error bounds are derived for the states and control inputs compared with the virtual reference system which defines the best performance that can be achieved by the closed‐loop system. Both numerical and practical examples are provided to illustrate the effectiveness of the proposed switching recursive filtering adaptive fault‐tolerant tracking control architecture, comparisons with model reference adaptive control are also carried out.

中文翻译：

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不确定切换多元非线性系统的递归滤波自适应容错跟踪控制

本文综合了不确定切换多变量非线性系统的递归滤波自适应容错跟踪控制方法。所考虑的多元非线性系统具有匹配和不匹配的不确定性，它们满足半全局Lipschitz条件。分段常数自适应定律通过忽略未知数来解决误差动态来生成自适应参数，并且通过将总不确定性估计值分类为匹配和不匹配分量，采用递归最小二乘最小化残留误差。设计了一种滤波控制法则来补偿执行器故障和非线性不确定性，从而以良好的鲁棒性提供良好的跟踪性能。通过在控制信号中采用它们的相反值，可以直接消除匹配的分量，而对系统进行动态反转以消除不匹配的分量对输出的影响。通过利用平均停留时间原理，与虚拟参考系统相比，可以得出状态和控制输入的误差范围，后者定义了闭环系统可以实现的最佳性能。提供了数值和实际例子，以说明所提出的开关递归滤波自适应容错跟踪控制体系的有效性，并与模型参考自适应控制进行了比较。通过利用平均停留时间原理，与虚拟参考系统相比，可以得出状态和控制输入的误差范围，后者定义了闭环系统可以实现的最佳性能。提供了数值和实际例子，以说明所提出的开关递归滤波自适应容错跟踪控制体系的有效性，并与模型参考自适应控制进行了比较。通过利用平均停留时间原理，与虚拟参考系统相比，可以得出状态和控制输入的误差范围，后者定义了闭环系统可以实现的最佳性能。提供了数值和实际例子，以说明所提出的开关递归滤波自适应容错跟踪控制体系的有效性，并与模型参考自适应控制进行了比较。