Design of an adaptive fault tolerant control: case of sensor faults

Atef Kheder (1) , Kamel Ben Othman (1) , Didier Maquin (2) , Mohamed Benrejeb (1)

1 LR-Automatique-ENIT - Laboratoire d'Automatique [Tunis]
2 CRAN - Centre de Recherche en Automatique de Nancy

This paper presents a method of design of a sensor faults tolerant control. The method is presented for the case of linear systems and then for the case of non linear systems described by Takagi-Sugeno models. The faults are initially estimated using a proportional integral observer. A mathematical transformation is used to conceive an augmented system in which the sensor fault appear as an unknown inputs. The synthesized control depends on the estimated faults and the error between the state of a reference reference and the faulty system state. The fault tolearnt control is conceived using the augmented state. The conditions of the observer convergence and of the control existence are formulated in terms of Linear Matrix Inequalities (LMI). The formulation in LMI shows that the synthesis of the control and the observer can be independently made. For both cases (linear and non linear) The theoretical results are validated by their application to a noisy system affected by sensor faults.

Mots clés: Estimation; Faults tolerant control; Multiple model; Proportional integral observer; Sensor faults

Domaines: Automatique / Robotique

Atef Kheder, Kamel Ben Othman, Didier Maquin, Mohamed Benrejeb. Design of an adaptive fault tolerant control: case of sensor faults. WSEAS Transactions on Systems, 2010, 9 (7), pp.794-803. ⟨hal-00656395⟩