Observer-based Sensor Fault Tolerant Control with Prescribed Tracking Performance for a Class of Nonlinear Systems

Hamed Habibi, Amirmehdi Yazdani, Mohamed Darouach, Hai Wang, Tyrone Fernando, Ian Howard

Research output: Contribution to journalArticlepeer-review

4 Citations (Web of Science)

Abstract

In this note, a robust output feedback Fault-Tolerant Control (FTC) for a high-performance tracking problem of a Lipschitz nonlinear system under simultaneous sensor fault and disturbance is developed. The proposed scheme includes the design of an adaptive sliding mode observer which recovers the separation principle. A tangent-type barrier Lyapunov function is incorporated in the backstepping framework to maintain the system states in a prescribed performance bound. Moreover, the unknown estimation error is taken into account. Furthermore, the bounded initial condition assumption is relaxed by defining a time variable bound. The effectiveness of the proposed solution is numerically examined on a DC motor model.

Original languageEnglish
Pages (from-to)8259-8266
Number of pages8
JournalIEEE Transactions on Automatic Control
Volume68
Issue number12
Early online date18 Jul 2023
DOIs
Publication statusPublished - 1 Dec 2023

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