We had considered the integrity problems with state feedback robust optimal FTC under sensor and actuator failures simultaneously for a class of distributed control system with time-varying parameter uncertainties, time-delay and disturbances. The effectiveness of the proposed method is verified by numerical simulations on a quadrotor Unmanned Aerial Vehicle (UAV) and field experiments on a real-world application.
We had analyzed the system stability problem in the presence of sensor and actuator faults in control systems with uncertainties, time delays and disturbances, and then designed robust optimal fault tolerant controller by combining Lyapunov`s stability theory and quadratic form evaluation function.
And we have designed a robust optimal fault-tolerant controller which is assured the integrity in the presence of sensor faults as well as actuator faults respectively, based on the mathematical model of time-delay system with parameter uncertainties and disturbances.
The proposed robust optimal fault-tolerant control algorithm with state feedback is obtained using Lyapunov's stability theory and linear quadratic (LQ) control method.
This robust optimal fault-tolerant controller neither needs to estimate the boundary values of an actuator fault and a sensor fault and nor depends on fault detection and diagnostic devices.
The effectiveness of designed robust optimal fault-tolerant controller is demonstrated through numerical simulations and application experiments for Quadrotor UAV.
Detailed results were published in the "International Journal of Dynamics and Control", under the title of "Robust Fault Tolerant Control and Application in DCS with uncertainty and time delay" (https://doi.org/10.1007/s40435-024-01535-z).
