Adaptive PID Takagi-Sugeno Actuator Fault Tolerant Tracking Control for Nonlinear Systems

This manuscript describes an extended Fault Tolerant Tracking Control (FTTC) scheme for Takagi-Sugeno (T-S) fuzzy models disturbed by actuator faults. Firstly, an Adaptive Fuzzy Observer (AFO) is employed to reconstruct state and actuator's faults. The delivered information by this AFO, is used to develop an adaptive Proportional-Integral-Derivative (PID) active fault tolerant controller. The purpose of the designed PID controller is to compensate the incipient actuator fault impacts and to guaranteeing trajectory tracking of the outputs to the reference responses. Stability and trajectory tracking performances of the suggested methodology are examined by the Lyapunov concept. Sufficient conditions are obtained and solved for the design of the controller and the observer gains using Linear Matrices Inequalities (LMIs). After All, a benchmark model is presented to demonstrate the validity and feasibility of the theoretical results.