.png){kind=icon}
.png){kind=icon}
Return
Observer-based active fault/disturbance compensation control for fully actuated systems
.png){kind=icon}
PRE
AI
W
G
P
H
DOI：10.1007/s11432-025-4817-2.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with enhanced design flexibility for the fully actuated system model, enabling simultaneous estimation of system states and exogenous unknown signals, such as faults or disturbances. Then, a nonlinear controller is developed with an active fault or disturbance compensation term, leveraging the fully actuated system approach. The asymptotic stability of both the state estimation error and the closed-loop control system is systematically established. Finally, the feasibility and merits of the proposed method are validated through comparative simulations and experiments.
Keywords:
fault-tolerant control
fully actuated system approach
fault estimation
nonlinear system
observer
Journal
IF:
7.6
Papers:
4.9K
Citations:
8.9K
Organization
Cited Papers