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An integrated fault estimation and fault tolerant control method using H ∞ ‐based adaptive observers
Author(s) -
Fazeli S. Mahdi,
Abedi Mostafa
Publication year - 2020
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.3144
Subject(s) - control theory (sociology) , observer (physics) , linear matrix inequality , actuator , lipschitz continuity , nonlinear system , fault (geology) , computer science , fault tolerance , control (management) , control engineering , mathematics , engineering , mathematical optimization , mathematical analysis , physics , quantum mechanics , artificial intelligence , seismology , geology , distributed computing
Summary An integrated fault estimation/fault‐tolerant control (FTC) scheme is developed in this article for nonlinear Lipschitz systems in the presence of external disturbances and actuator failures. To address this problem, coupled uncertainties between the observer error dynamics and the control system are considered, which is conveniently ignored in control approaches based on the separation principle. An H ∞ ‐based adaptive observer is proposed to simultaneously estimate the system states and actuator faults without the restrictive strictly positive realness or persistent excitation conditions. The FTC is constructed by sliding mode control using the estimated states generated by the developed observer. A novel sufficient condition is derived in terms of linear matrix inequality (LMI) including both the system control dynamics and the estimation errors; then, the control parameters and observer gains are simultaneously obtained via solving the mentioned LMI based on the H ∞ optimization. Finally, a flexible joint robot is considered to illustrate the effectiveness of the developed method.