Open AccessRobust Fault Estimation and Fault-Tolerant Control Based on Sliding Mode Observer for Takagi–Sugeno Fuzzy Systems Subject to Actuator and Sensor Faults
Author(s) -
Slim Dhahri,
Essia Ben Alaïa
Publication year - 2020
Publication title -
international journal of innovative technology and exploring engineering
Language(s) - English
Resource type - Journals
ISSN - 2278-3075
DOI - 10.35940/ijitee.g6005.069820
Subject(s) - control theory (sociology) , actuator , observer (physics) , inverted pendulum , fuzzy logic , nonlinear system , controller (irrigation) , fuzzy control system , fault tolerance , linear matrix inequality , computer science , control engineering , lyapunov stability , engineering , control (management) , mathematics , artificial intelligence , mathematical optimization , distributed computing , physics , quantum mechanics , agronomy , biology
In this paper, the problems of fault estimation and fault-tolerant control for Takagi-Sugeno fuzzy system affected by simultaneous actuator faults, sensor faults and external disturbances are investigated. Firstly, an adaptive fuzzy sliding-mode observer is designed to simultaneously estimate system states and both actuator and sensor faults. Then, based on the online estimation information, a static output feedback fault-tolerant controller is designed to compensate for the effect of faults and to stabilize the closed-loop system. Moreover, sufficient conditions for the existence of the proposed observer and controller with an H∞ performance are derived based on Lyapunov stability theory and expressed in terms of linear matrix inequalities. Finally, a nonlinear inverted pendulum with cart system application is given illustrate the validity of the proposed method.