Fuzzy Systems and Fuzzy Control Robust Fault Tolerant Fuzzy control for Nonlinear Systems with Actuator Failures

This paper considers the robust fault tolerant fuzzy control problem for continuous-time nonlinear systems with time-delay and actuator faults. The Takagi- Sugeno (T-S) fuzzy model is employed to approximate a nonlinear uncertain system with time-delay. Based on actuator fault model, a fuzzy observer-based fuzzy controller is developed. The fuzzy control system is reliable in the sense of that asymptotic stability is achieved not only when all actuator components are operating well, but also in the presence of some component failures. Numerical simulation example is given to illustrate the application of the proposed design method.