Safe Reconfigurability of a Class of Nonlinear Interconnected Systems

In this paper, based on the small-gain theorem of large-scale interconnected systems, we study the convergence performance of nonlinear interconnected systems with cycles, and establish a safely reconfigurable condition for the control law of each subsystem, which is applied to design fault-tolerant control (FTC) schemes. Both individual and cooperative FTC methods are presented in this paper by redesigning the controller of each subsystem and adjusting the interconnected gain between subsystems to ensure that the trajectories of states do not exceed the given safety bound.