Active Fault-Tolerant Control for Stochastic Fully Actuated Systems With Local Faults

This article portrays a class of local faults (LFs), whose basic characteristic is that the fault occurs only when the system state is in a certain domain. To accurately tolerate LFs for stochastic higher-order fully actuated systems, a novel active fault-tolerant control (AFTC) strategy is proposed. The indicators of entering and leaving fault domains are designed to enable the estimation of fault domains. The boundedness in probability of tracking error is guaranteed theoretically through the whole stages of AFTC. Finally, a practical example is presented to demonstrate the effectiveness of the proposed AFTC framework.