Prescribed-Time Fault-Tolerant Control for Switched Time-Delay Nonlinear Systems with Actuator and Sensor Failures

This paper investigates the problem of prescribed-time (PT) fault-tolerant control for switched time-delay nonlinear systems subject to simultaneous switched actuator and sensor failures. First, a novel common PT K-filter, independent of switching signals, is constructed to estimate unmeasurable system states. Using the backstepping approach, an adaptive PT output feedback controller is then designed. Leveraging a newly developed lemma, it is rigorously proved that both the observation error and the closed-loop system states converge to zero within a prescribed time interval. The proposed framework accommodates arbitrary switching signals and allows for infinite occurrences of actuator and sensor failures. Finally, a numerical simulation demonstrates the effectiveness of the proposed control scheme.