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Robust Fault-Tolerant Control for Dissipative Hamiltonian Systems Subject to Actuators' Additive Faults

This paper considers the problem of robust fault-tolerant control for dissipative Hamiltonian systems subject to actuators' additive faults. An energy-based robust controller for the faulty system is proposed by using structure properties of dissipative Hamiltonian systems, which ensures the local uniform asymptotic stability and the disturbance attenuation performance of the faulty system. As compared to existing FTC strategies, the proposed strategies avoid solving the Lyapunov function associated with the nominal stabilizing strategy.