Abstract
The goal of this paper is to describe a novel fault tolerant tracking control (FTTC) strategy based on robust fault estimation and compensation of simultaneous actuator and sensor faults. Within the framework of fault tolerant control (FTC) the challenge is to develop an FTTC design strategy for nonlinear systems to tolerate simultaneous actuator and sensor faults that have bounded first time derivatives. The main contribution of this paper is the proposal of a new architecture based on a combination of actuator and sensor Takagi-Sugeno (T-S) proportional state estimators augmented with proportional and integral feedback (PPI) fault estimators together with a T-S dynamic output feedback control (TSDOFC) capable of time-varying reference tracking. Within this architecture the design freedom for each of the T-S estimators and the control system are available separately with an important consequence on robust L 2 norm fault estimation and robust L 2 norm closed-loop tracking performance. The FTTC strategy is illustrated using a nonlinear inverted pendulum example with time-varying tracking of a moving linear position reference.
Highlights
The goal of this paper is to describe a novel fault tolerant tracking control (FTTC) strategy based on robust fault estimation and compensation of simultaneous actuator and sensor faults
The ideas focus on the design of an observer-based fault tolerant tracking controller for nonlinear systems described in T-S model form
The work in this paper focuses on the design of an AFTC system that has the capability of tolerating wide range of fault scenarios
Summary
Due to the increased demand for maintaining required system performances in different conditions of operation, there has been a rapidly growing interest in the field of FTC in the last two decades [1,2,3]. The proposed strategy involves the design of (i) a TSDOFC responsible for minimising the tracking error between the reference and system output signals during nominal operation, and (ii) two T-S fuzzy observers dedicated to provide separate estimates of the actuator and sensor faults for the purpose of fault compensation. The nonlinear example of an inverted pendulum with timevarying cart position reference is used to illustrate the proposed FTTC strategy Both additive and parametric fault scenarios are considered for simultaneous actuator and sensor faults.
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