Robust state estimation and actuator fault detection for a class of uncertain switched linear systems

This paper deals with the issues of both robust state estimation and actuator fault detection for a class of uncertain switched linear systems under average dwell time (ADT). A robust switched observer is proposed to estimate the states of switched system even if it is subject to simultaneous disturbance inputs and actuator faults, where the disturbance inputs are decoupled and the actuator faults are suppressed by designing a switching sliding-mode control law. The observer gain matrices are also obtained by solving an optimization problem with linear matrix inequality constraints, and a switching signal is designed to guarantee the exponential stability of error dynamics. Next, a fault detection observer is developed as fault detector to not only estimate the states of switched system under the case of no actuator faults but also detect the occurrence of actuator faults. Finally, a numerical simulation is given to illustrate the effectiveness of the proposed methods.