Observer-Based Active Fault/Disturbance Compensation Control for Fully Actuated Systems

TL;DR

This paper introduces an observer-based control method with active compensation for fully actuated systems, enabling simultaneous estimation of states and disturbances, and demonstrating stability and effectiveness through simulations and experiments.

Contribution

A novel observer design and control strategy that actively compensates for faults and disturbances in fully actuated systems, with proven stability and practical validation.

Findings

Enhanced observer allows simultaneous state and disturbance estimation.

Active compensation improves fault handling in fully actuated systems.

Method validated through simulations and experiments showing stability and effectiveness.

Abstract

This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with enhanced design flexibility for the fully actuated system model, enabling simultaneous estimation of system states and exogenous unknown signals, such as faults or disturbances. Then, a nonlinear controller is developed with an active fault or disturbance compensation term, leveraging the fully actuated system approach. The asymptotic stability of both the state estimation error and the closed-loop control system is systematically established. Finally, the feasibility and merits of the proposed method are validated through comparative simulations and experiments.