Abstract
In this chapter, we propose a robust active fault-tolerant control (AFTC) scheme for a class of uncertain nonlinear systems with simultaneous actuator and sensor faults described viaTakagi-Sugeno (T-S) multiple models. First, by transforming the sensor fault into pseudoactuator fault, a novel T-S sliding-mode observer (TS-SMO) with two discontinuous terms is developed to provide separate estimates of the actuator and sensor faults for the purpose of fault compensation. The robustness of the proposed observer against uncertainties has been taken into account via H-infinity norm minimization. Second, we use obtained on-line fault estimation information to design dynamic output feedback controller (DOFC) for robustly compensating the effects of actuator and sensor faults from the system inputs and outputs and guarantee the stability of the overall closed-loop system. The stability proof with H-infinity performances and D-stability constraints is formulated as a linear matrix inequalities (LMI) optimization problem. The effectiveness of the proposed robust AFTC approach to treat simultaneous actuator and sensor faults is illustrated using a nonlinear inverted pendulum with cart system.