Separate Observer-Based Estimation and Control for Unmanned Autonomous Vehicles with Disturbances and Faults under Input Saturation

This paper discusses the separate observer-based estimation and control for unmanned autonomous vehicles with disturbances and faults under input saturation effects. A trajectory tracking control scheme is designed with integrating the separate observers. The disturbance observer online estimates and compensates for time-varying uncertain disturbances. The actuator fault observer enables online estimation and compen-sation of actuator faults. An auxiliary dynamic filter is used to attenuate the adverse effects of control saturation. The Lyapunov stability theory demonstrates that all the signals of the closed-loop system are global uniformly ultimately bounded. Illustrations show the effectiveness of this scheme.