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Fault Accommodation for Nonlinear Dynamic Systems

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3 Author(s)
Bin Jiang ; Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut. ; Staroswiecki, M. ; Cocquempot, V.

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

Published in:

Automatic Control, IEEE Transactions on  (Volume:51 ,  Issue: 9 )