Actuator Fault Tolerant Control design for Linear Parameter Varying Systems

In this work, an observer-based Fault Tolerant Control (FTC) for nonlinear systems transformed to Linear Parameter Varying (LPV) representation is proposed. The system is affected by an actuator faults and disturbances, Sliding Mode Observer (SMO) is utilized to estimate the system state and actuator faults. Based on the fault information marked by the fault-estimation procedure, the FTC component is constructed to compensate the effects of faults. FTC is developed to guarantee the desired stability and robustness in the presence of faults. A sufficient condition for stability with H_∞ performances and D-stability constraints is formulated as a linear matrix inequalities (LMIs) problem. The efficiency of the suggested scheme is demonstrated by its application to a VTOL aircraft system simulator.