Fault-tolerant control against simultaneous partial actuator degradation and additive sensor fault

Abstract

This paper investigates the stabilization problem in the presences of external disturbance, actuator degradation and additive sensor fault. In the study, a robust fault-tolerant observer is proposed to estimate the system state, actuator efficiency factor, and sensor fault simultaneously. Then, an observer-based sliding mode control law is designed to compensate the faults, and guarantee the stability of the closed-loop system. In the proposed FTC design, the bound of the disturbance and the sensor fault is not required to be known. Finally, an example is presented to illustrate the effectiveness of the proposed method.