Fault tolerant tracking controller design for T-S fuzzy disturbed systems with uncertainties subject to actuator faults

Sabrina Aouaouda (1) , Mohamed Tarek Khadir (1) , Tahar Bouarar (2) , Dalil Ichalal (3) , Mohammed Chadli (4)

1 LabGED - Laboratoire de Gestion Electronique de Document [Annaba]
2 CRAN - Centre de Recherche en Automatique de Nancy
3 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
4 MIS - Modélisation, Information et Systèmes - UR UPJV 4290

The investigated fault tolerant control (FTC) problem for uncertain nonlinear systems with external disturbances against actuator faults is addressed. The aim is to synthesize a fault tolerant controller ensuring trajectory tracking for a class of nonlinear systems represented by Takagi-Sugeno (T-S) models with measurable premise variables. In order to design the FTC law a proportional integral observer (PIO) is adopted which estimate both of the faults and the faulty system states. Based on Lyapunov theory, and L2 optimization, the trajectory tracking performance and the stability of the closed loop system are analyzed. Sufficient conditions are obtained in terms of linear matrix inequalities (LMI). Simulation results show the effectiveness of the proposed method.

Mots clés: LMI; Lyapunov theory; T-S fuzzy disturbed systems; Takagi-Sugeno models; actuator faults; closed loop system; fault tolerant control problem; fault tolerant controller synthesis; fault tolerant tracking controller design; linear matrix inequalities; optimization; proportional integral observer; trajectory tracking; uncertain nonlinear systems; uncertainties

Domaines: Automatique / Robotique

Sabrina Aouaouda, Mohamed Tarek Khadir, Tahar Bouarar, Dalil Ichalal, Mohammed Chadli. Fault tolerant tracking controller design for T-S fuzzy disturbed systems with uncertainties subject to actuator faults. 16th Conference on Emerging Technologies and Factory Automation, ETFA 2011, Sep 2011, Toulouse, France. ⟨10.1109/ETFA.2011.6059077⟩. ⟨hal-00656326⟩