Integrated event-triggered fault estimation and fault-tolerant control for discrete-time fuzzy systems with input quantization and incomplete measurements |
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| Institution: | 1. Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian 116023, China;2. State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology, Dalian 116023, China;1. School of Science, Binzhou University, Shandong 256603, China;2. School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China;1. Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China;2. Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong 999077, China |
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| Abstract: | This paper addresses the problem of robust integrated fault estimation (FE) and fault-tolerant control (FTC) for a class of discrete-time networked Takagi–Sugeno (T–S) fuzzy systems with two-channel event-triggered schemes, input quantization and incomplete measurements. The incomplete information under consideration includes randomly occurring sensor saturation and randomly occurring quantization. In order to save the limited networked resources, this paper firstly proposed a novel dynamic event-triggered scheme on the sensor side and a static one on the controller side. Secondly, an event-triggered FE observer for the T–S fuzzy model is designed to estimate actuator faults and system states, simultaneously. Then, a specified discrete sliding surface in the state-estimation space is constructed. By using time-delay analysis technique and considering the effects of event-triggered scheme, quantization, networked conditions, actuator fault and external disturbance, the sliding mode dynamics and error dynamics are unified into a new networked time-delay model. Based on this model, sufficient conditions are established such that the resulting augmented fuzzy system is stochastically stable with a prescribed H∞ performance level with a single-step linear matrix inequality (LMI) formulation. Furthermore, an observer-based sliding mode controller for reaching motion is synthesized to guarantee the reachability of the sliding surface. Finally, a single-link flexible manipulator example is present to illustrate the effectiveness of the proposed method. |
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