Fault detection based on interval observers and dynamic event-triggered fault-tolerant control for morphing aircraft

In this paper, a fault detection mechanism using interval observers and a robust fault-tolerant control strategy with dynamic event-triggered mechanism are designed for the switched control problem during the transformation process of a morphing aircraft. Firstly, an interval observer design method for the nonlinear switched system is given. It is converted by coordinate transformation into the form of solving Sylvester’s equation in the absence of actuator faults. Secondly, by using the output of the interval observer, the upper and lower bounds of the system output under the no actuator faults condition are constructed, and the design of the fault detection mechanism is achieved by monitoring whether the system output exceeds the bounds. Thirdly, in order to save communication resources, a robust fault-tolerant control strategy based on dynamic event-triggered mechanism is designed. Based on fault detection results, two different controllers are utilized for switched control, ensuring the boundedness of the closed-loop system signal, and conditions for the asymptotic stability of the closed-loop system are offered. Finally, a nonlinear model of morphing aircraft system with variable wing curvature is used to verify the validity of the designed scheme.