Design and stability analysis of a fault accommodation scheme for a class of nonlinear dynamical systems

摘要

The paper presents a robust fault diagnosis scheme for detecting and accommodating faults occurring in a class of nonlinear multi-input multi-output dynmical systems. Changes in the system dynamics due to a fault are modeled as nonlinear functions of the control input and state variables. The proposed fault accommodation scheme provides a way to augment the nominal controlelr such that the stability of the closed-loop system is retained in the presence of an unknown fault and of bounded disturbances. The stability of the robust fault accommodation scheme is rigorously established using Lyapunov redesign methods.