Fuzzy Asynchronous Fault Tolerant Control for Semi-Markov Jump Systems

This work investigates the fault-tolerant control scheme for Takagi-Sugeno fuzzy semi-Markov jump systems with actuator faults. The hidden semi-Markov model is employed to describe the asynchronous phenomenon between the controller and plant. Based on Lyapunov theory, the fault tolerant controller depending on observable mode is presented to make sure that the semi-Markov jump systems is stochastically stable and satisfies the $H_{\infty}$ performance. A simulation example via a single-link robot is employed to prove the correctness of the studied approach.