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Fault accommodation for nonlinear dynamic systems
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DOI：10.1109/TAC.2006.878732.png)
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Abstract
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This note investigates process fault accommodation in a class of nonlinear continuous-time systems. A new fault estimation module, based on an adaptive estimator, is first proposed. The fault tolerant controller is constructed to compensate for the effect of the faults by stabilizing the closed-loop system. A flexible joint robotic example is given to illustrate the efficiency of the proposed approach.
Keywords:
active fault-tolerant control (FTC)
adaptive estimator
fault estimation
nonlinear continuous-time systems
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