Fault Tolerant Output Feedback Tracking Control for Nonlinear Systems via T-S Fuzzy Modelling

摘要

This paper presents a new approach to active sensor fault-tolerant tracking control for non-linear systems described via Takagi-Sugeno multiple models. The fault-tolerant control (FTC) strategy is based on a sensor fault hiding approach through the design of an estimator as an intermediate stage of redundancy acting between the system outputs and the controller inputs such that the controller always receives a fault-free signal. The estimator used is capable of estimating a wide range of time-varying fault signals. Based on the corrected output signal a fuzzy dynamic output feedback controller is designed to track the desired trajectory. The stability proof with H_∞ performance and D-stability constraints is formulated as a Linear Matrix Inequality (LMI) problem. The strategy is illustrated using a non-linear example of an inverted pendulum.