Title of Paper:Supervisory fault tolerant control for a class of uncertain nonlinear systems

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Affiliation of Author(s):自动化学院

Journal:Automatica

Key Words:Fault detection and isolation, Fault tolerant control, Nonlinear systems, Switching control

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.

Volume:45

Issue:10

Page Number:2319-2324

Translation or Not:no

Date of Publication:2009-10-13

Included Journals:EI、SCIE

Co-author:Marcel Staroswiecki

Correspondence Author:Bin Jiang