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Integrated fault estimation and fault‐tolerant control for uncertain Lipschitz nonlinear systems
Author(s) -
Lan Jianglin,
Patton Ron J.
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3597
Subject(s) - control theory (sociology) , lipschitz continuity , linear matrix inequality , observer (physics) , nonlinear system , actuator , fault (geology) , controller (irrigation) , computer science , control engineering , control (management) , mathematics , engineering , mathematical optimization , mathematical analysis , physics , quantum mechanics , artificial intelligence , seismology , geology , agronomy , biology
Summary This paper proposes an integrated fault estimation and fault‐tolerant control (FTC) design for Lipschitz non‐linear systems subject to uncertainty, disturbance, and actuator/sensor faults. A non‐linear unknown input observer without rank requirement is developed to estimate the system state and fault simultaneously, and based on these estimates an adaptive sliding mode FTC system is constructed. The observer and controller gains are obtained together via H ∞ optimization with a single‐step linear matrix inequality (LMI) formulation so as to achieve overall optimal FTC system design. A single‐link manipulator example is given to illustrate the effectiveness of the proposed approach. Copyright © 2016 John Wiley & Sons, Ltd.