Abstract
This paper aims at putting forward an adaptive fuzzy hierarchical sliding mode control method to deal with the control problem for uncertain under-actuated switched nonlinear systems with actuator faults. First, both the bias fault and the loss of effectiveness are considered for the actuator faults. Then, the unknown uncertain functions of the under-actuated switched nonlinear system are approximated by utilising the approximation ability of fuzzy logic systems (FLSs). The error terms caused by FLSs and the upper bound of the bias signal of the actuator faults are integrated into a function where the upper bound of the function is on-line estimated. Furthermore, the singular problem of denominators can be well solved by introducing the projection algorithm. Based on our proposed control scheme, the boundedness of all the signals in the closed-loop system can be verified by resorting to the Lyapunov stability theory. Finally, a simulation example is given to verify the effectiveness of the proposed control scheme.