Model-based fault detection, isolation and fault-tolerant control for a class of nonlinear uncertain systems using information estimation

摘要: In this paper, we propose a fault detection, isolation and fault-tolerant control scheme for class of nonlinear uncertain systems with possible state sensor failures. First, model-based estimator using input-output information is designed by considering both This used to generate the residual signal which detecting Second, multiple estimators are proposed design finding type or location. Third, utilizing estimated, tolerant algorithm maintain system operation continuously after detected. Finally, simulation given demonstrate how can detect occurrence, isolate engage one degree freedom robot.