Fault-Tolerant Control for High-Order Fully Actuated Systems with Dead-Zone Observers

This paper presents a fault-tolerant tracking controller based on dead-zone observers for high-order fully actuated systems with faults and noise. In the parametric fully actuated system architecture, the traditional fault-tolerant control (FTC) framework can merely yield the ultimately uniformly bounded error system. To further suppress measurement noise, a dead-zone strategy is applied to the FTC redesign. Although the novel FTC structure cannot completely eliminate measurement noise, its noise suppression performance compared with the traditional structure is theoretically proved and experimentally illustrated.