A fault-tolerant control framework for a class of non-linear networked control systems

Abstract

In this article, a novel fault-tolerant control (FTC) framework is presented for a class of non-linear networked control systems (NCSs) with Markov transfer delays. First, the NCSs are modelled by non-linear discrete Takagi–Sugeno fuzzy model using Euler approximate method. Then, a sliding mode-based fault estimation technique is developed for such model. With the estimated state and fault information, the proposed FTC framework can maintain the input-to-state stability of the faulty NCSs. A flexible joint robot link example is included to show the efficiency of the proposed method.

Keywords:

• fault-tolerant control
• fault diagnosis
• non-linear networked control systems
• time-delay
• observer

Acknowledgements

Partially supported by National Natural Science Foundation of China (60574083, 60811120024), National ‘863’ program of China (2006AA12A108), Aeronautics Science Foundation of China (2007ZC52039) and Graduate innovation research funding of NUAA.