Fault-Tolerant Control Redesign for Noisy High-Order Fully Actuated Systems

This article presents two fault-tolerant control (FTC) frameworks for high-order fully actuated systems (HOFASs) with actuator faults, sensor faults, and measurement noise. After analyzing the observable architecture corresponding to each measurement, actuator faults are compensated through fusion observers, and sensor faults are rejected through redundant observability. The first FTC framework with traditional fusion observers can merely yield an ultimately uniformly bounded (UUB) error system. To further suppress measurement noise, a dead-zone fusion observation strategy is applied to the FTC redesign. Especially in a linear HOFAS model, the noise suppression performance of the novel FTC framework is proved to be superior. In more general systems, two comparative cases experimentally illustrate trajectory tracking results and noise suppression performance.