Robust Dynamic Output Feedback Fault-Tolerant Control for T-S Fuzzy Systems Via Adaptive Sliding Mode Observers

This paper studies the problem of robust fault estimation (FE) and fault-tolerant control (FTC) for a class of Takagi-Sugeno (T-S) fuzzy systems where both uncertainties and output disturbances are considered. Firstly, A fuzzy adaptive sliding-mode observer (ASMO) is designed to estimate the system state and actuator faults. Secondly, based on the estimation information, a fuzzy dynamic output feedback fault-tolerant controller is designed to compensate for the impact of actuator faults and to stabilize the closed-loop system with the prescribed H∞ performance. Finally, the simulation results of nonlinear inverted pendulum with cart system validate the efficiency of the proposed method.