An Observer-based Fault-accommodating Controller for Nonlinear Systems in the Presence of Sensor Failures
نویسندگان
چکیده
This paper addresses the issue of designing a fault accommodating control algorithm which, after a sensor fault occurrence, takes information about the degraded sensor into account and drives the system such that performance recovery is achieved. A general class of single input nonlinear systems is considered, containing also a disturbance term. An observer is used to reconstruct the degraded state variable, and is activated as soon as the Fault Detection and Identification unit signals the location and occurrence of a sensor fault. Asymptotical convergence of the observer within an arbitrary finite time is proved, under some assumptions about the plant structure Copyright c 2005 IFAC.
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