LAUSR

This paper is concerned with the fault-tolerant control (FTC) problem against simultaneous actuator and sensor fault for discrete-time nonlinear systems. The nonlinear plant is represented by Takagi–Sugeno (T–S) fuzzy dynamic models with disturbance and measurement noise. In this work, the original plant is augmented into a descriptor system, where the state and fault are assembled into a new state vector. Based on piecewise quadratic Lyapunov functions, a new T-S fuzzy fault-tolerant observer is designed such that both the actuator and sensor faults can be estimated asymptotically. Then, a piecewise observer-based FTC approach is developed to stabilize the resulting closed-loop fault system. Finally, a practical example of the truck-trailer model is presented to illustrate the effectiveness of the proposed method.