Sensor Fault Tolerance for High-order Fully-actuated Systems

In the paper, a novel fault-tolerant controller is presented for high-order fully-actuated systems (HOFASs) with sensor faults. Nonlinear controllable HOFASs can be globally stabilized via specific control laws. An observability normal form based on each individual measurement is utilized to deduce a q-redundant observation proposition of the HOFAS model with nonlinear measurements. Then, the proposed sensor fault tolerance approach based on redundant observability can yield the ultimately uniformly bounded stability. Main results are proved theoretically and illustrated experimentally.