Robust Control for a Class of Nonlinearly Coupled Hierarchical Systems with Actuator Faults

This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both dynamics and input effectiveness of class hierarchical nonlinear systems which high-level is nonlinearly coupled with multi-agent low-level dynamics. The has multiplicative subjected exogenous disturbance input. On other hand, system actuator faults causing time-varying dynamical model associated effectiveness. Moreover, coupling between makes problem even more challenging. To address this problem, online parameter estimation algorithm designed, adaptive splitting mechanism automatically distributes action among low level systems. A $\mathcal{L}_2$-gain-based controller, then state-feedback controller are designed high-level, low-level, respectively, recover from high performance transient response, reject disturbance. resulting analysis guarantees robust tracking reference command signal.