ESO-based fault diagnosis and fault-tolerant for incipient actuator faults

A fault diagnosis and fault-tolerant control approach is proposed which is based on extended state observer for systems with random disturbance and incipient actuator faults. Firstly, random disturbance and incipient fault are put in the extended state of ESO, thus the incipient fault can be diagnosed without using the residual. Then, the optimal fault-tolerant and dynamic self-repairing control can be achieved by the estimated values of random disturbance and incipient faults. Finally, Simulation results demonstrate the effectiveness and reliability of the proposed approach.