The Integrated Adaptive Fault Tolerant Control Design With Saturation for Nonlinear System

A integrated fault tolerant control design with adaptive fault estimation algorithm is proposed in this paper, which is used for the nonlinear system with saturation. Firstly, the fault model with actuator and sensor faults is built for the nonlinear system with saturation, to simplify the controller design procedure, taking the output tracking error as the augmented state, and the extended system model is obtained. Secondly, the fault tolerant control with adaptive estimation law is proposed, in order to solve the constraints caused by saturation in the controller design, the design algorithm through convex group description is presented, meanwhile, the robust control index is introduced in the controller design, and the controller calculating principle is given through linear matrix inequality(LMI). Finally, a flight numerical example is proposed to demonstrate the effectiveness of the method presented in this paper.