Robust Takagi-Sugeno sensor fault tolerant control strategy for nonlinear system

This paper presents a robust Fault Tolerant Tracking Control (FTTC) design for nonlinear uncertain systems described by Takagi Sugeno (T-S) fuzzy models with unmeasurable premise variables subject to sensor faults. A Proportional Integral Observer (PIO) is proposed to estimate the faulty states and the time-varying sensor faults. The FTTC is synthesized based on the estimation derived from the PIO with a guaranteed H∞ performance to minimize the effect of the external disturbance. The trajectory tracking performances and the stability of the closed loop system are analyzed based on the Lyapunov theory and the L2 optimization. The stability condition are formulated in terms of Linear Matrix Inequality (LMI). The proposed robust FTTC is illustrated using simulation results.