Abstract
This paper proposes a robust Fault Tolerant Control (FTC) design for a Lipschitz nonlinear systems submit both to sensor and actuator fault as well as norm bounded uncertainties. First, by transforming sensor fault as a pseudo-actuator fault, An Sliding Mode Observer (SMO) is designed in order to estimate nonlinear system states and simultaneous faults. Sufficient stability conditions are found using multi-objective optimization. Second, an integral sliding mode controller is destined to stand behind stability of the closed-loop system even the presence of simultaneous actuator and sensor faults. Simulations based on nonlinear single-link manipulator model has shown the effectiveness of the proposed FTC approach.
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