Fault reconstruction using a terminal sliding mode observer for a class of second-order MIMO uncertain nonlinear...

This study focuses on the fault reconstruction for a class of second-order multi-input and multi-output (MIMO) nonlinear systems with uncertainties. An innovative design scheme of terminal sliding mode observer (TSMO) is presented for which the relative degree of the system is two. In comparison with the common sliding mode observer (SMO), the proposed TSMO can converge all state estimation errors to zero in finite time, even when some states cannot be measured directly. Given that state estimation errors converge to zero in finite time, a fault reconstruction method based on an equivalent output error injection concept and a SMO-based fault isolation strategy are presented, so that the fault information after isolating disturbances can be accurately known. Simulation examples of fault reconstruction on a small unmanned underwater vehicle are presented to demonstrate the effectiveness of the proposed method.