On fault-tolerant control configurations for a class of nonlinear systems

This paper studies the configurations of fault-tolerant controllers for affine nonlinear systems. The design philosophy is highlighted by the observer and residual generator based controller parametrization and the integration of a fault diagnosis system. To be specific, a novel interpretation for the design of fault-tolerant controllers is first introduced with the combination of any stabilizing controller and a residual-driven dynamic compensator. It allows us to attain the separate design of system stability performance and fault tolerance. Under such circumstances, the whole design procedures finally realize the maintenance and life-circle management of affine nonlinear systems. In the end, a design scheme of the fault-tolerant control framework is proposed.