Fault-Tolerant Tracking Control for Takagi–Sugeno Fuzzy Systems Under Actuator and Sensor Faults

Abstract

The paper deals with the design of an active fault-tolerant control scheme, which is based on the actuator and sensor fault estimator. Thus, the paper starts with the development of such a fault estimation scheme capable of estimating these faults simultaneously. It is assumed that the estimator should have a desired performance. Subsequently, a new fault-tolerant control law is proposed, which is based on a parallel digital twin of the system. Thus, the goal is to control the system in such a way as to follow the states of the references digital twin irrespective of the faults. Finally, the effectiveness of the proposed approach is verified with the laboratory three-tank system. In particular, the performance of the system is tested against a set of simultaneous actuator and sensor faults, respectively.