Robust observer based Fault Tolerant Tracking Control for T-S uncertain systems subject to sensor and actuator faults
Salama Makni1, Maha Bouattour2, Ahmed El Hajjaji3
1STA laboratory, Sfax university, Gabes university, Gabes 6029, Tunisia.
ISA Transactions
|December 15, 2018
Summary
This study presents a robust adaptive observer for fault-tolerant tracking control in uncertain Takagi-Sugeno fuzzy systems. It effectively estimates sensor/actuator faults and system states while ensuring robust trajectory tracking.
Area of Science:
- Control Systems Engineering
- Fuzzy Logic Systems
- Robust Control Theory
Background:
- Uncertain systems pose challenges for state estimation and control.
- Sensor and actuator faults (SAF) degrade system performance and safety.
- Takagi-Sugeno (T-S) fuzzy models offer a framework for representing nonlinear uncertain systems.
Purpose of the Study:
- To develop a fault-tolerant tracking control (FTTC) strategy for uncertain T-S fuzzy systems.
- To simultaneously estimate unmeasurable states and SAF vectors.
- To ensure robust tracking performance under unknown bounded disturbances (UBD).
Main Methods:
- Design of a robust descriptor adaptive observer-based FTTC.
- Utilization of Linear Matrix Inequalities (LMIs) for observer and controller gain computation.
- Application of H∞ performance index for disturbance attenuation.
Main Results:
- Simultaneous estimation of system states and SAF vectors achieved.
- Effective tracking of reference trajectories demonstrated.
- Robustness against external disturbances confirmed through H∞ analysis.
Conclusions:
- The proposed observer-based FTTC effectively addresses SAF estimation and tracking control for uncertain T-S fuzzy systems.
- LMIs provide sufficient conditions for observer and controller design.
- The method shows effectiveness in simulations with various actuator faults.
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