Brief paper: Supervisory fault tolerant control for a class of uncertain nonlinear systems

  • Authors:

  • Hao Yang;Bin Jiang;Marcel Staroswiecki

  • Affiliations:

  • College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, 29 YuDao Street, Nanjing, 210016, China;College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, 29 YuDao Street, Nanjing, 210016, China;SATIE, ENS Cachan, USTL, CNRS, UniverSud, 61 avenue du Président Wilson, 94235 Cachan Cedex, France

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2009

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Abstract

This paper focuses on the design of a unique scheme that simultaneously performs fault isolation and fault tolerant control for a class of uncertain nonlinear systems with faults ranging over a finite cover. The proposed framework relies on a supervisory switching among a family of pre-computed candidate controllers without any additional model or filter. The states are ensured to be bounded during the switching delay, which ends when the correct stabilizing controller has been selected. Simulation results about a flexible joint robotic example illustrate the efficiency of the proposed method.