Sliding mode fault-tolerant control for Takagi-Sugeno fuzzy systems with local nonlinear models: Application to inverted pendulum and cart system

Research paper by Riadh Hmidi, Ali Ben Brahim, Slim Dhahri, Fayçal Ben Hmida, Anis Sellami

Indexed on: 23 Sep '20Published on: 16 Sep '20Published in: Transactions of the Institute of Measurement and Control


Transactions of the Institute of Measurement and Control, Ahead of Print. This paper proposes fault-tolerant control design for uncertain nonlinear systems described under Takagi-Sugeno fuzzy systems with local nonlinear models that satisfy the Lipschitz condition. First, by transforming sensor faults as ‘pseudo-actuator’ faults, an adaptive sliding mode observer is designed in order to simultaneously estimate system states, actuator and sensor faults despite the presence of norm-bounded uncertainties. Second, an adaptive sliding mode controller is suggested to provide a solution to stabilize the closed-loop system, even in the event of simultaneous occurrence of faults in actuators and sensors. Next, the main objective of the fault-tolerant control strategy is to compensate for the effects of fault based on the feedback information. Therefore, using the LMI optimization method, sufficient conditions are developed with [math] to calculate the gains of the observer and the controller. Then, particular attention is paid to the simultaneous maximization, by convex multi-objective optimization, of the Lipschitz nonlinear constant in Takagi-Sugeno fuzzy modelling and uncertainties attenuation level. The results of the simulation illustrate the effectiveness of our fault-tolerant control approach using a nonlinear inverted pendulum with a cart system.