Robust H∞ fault-tolerant control for nonlinear time-delay systems against actuator fault

For the Lipschitz non-linear systems with time delay, disturbances and noises, this paper studies the robust H∞ fault-tolerant control problems under the situation of abrupt actuator faults. A fault detection filter is designed to detect the abrupt actuator faults, and a robust dynamic observer is presented to estimate the actuator faults and states. A fault-tolerant controller is designed by the dynamic output feedback. The designed fault-tolerant controller can make the fault systems be stable asymptotically and satisfy the H∞ performance. Finally, a simulation example illustrates the effectiveness and the feasibility of the proposed approach.