In this work, we investigate the problem of control for nonlinear systems represented by Takagi-Sugeno (T-S) fuzzy models affected by both sensor and actuator faults subject to an unknown bounded disturbances (UBD). For this, we design an adaptive observer to estimate state, sensor and actuator fault vectors simultaneously despite the presence of external disturbances. Based on this observer, we develop a fault tolerant control (FTC) law not only to stabilize closed loop system, but also to compensate the fault effects. For the observer-based controller design, we propose less conservative conditions formulated in terms of linear matrix inequalities (LMIs). Moreover, both observer and controller gains are calculated via solving a set of LMIs only in single step. Finally, comparative results and an application to single-link flexible joint robot are afforded to prove the efficiency of the proposed design.

中文翻译：

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基于自适应观测器的具有传感器和执行器故障的 Takagi-Sugeno 模糊系统的鲁棒容错控制：应用于单连杆机械手

在这项工作中，我们研究了由受未知有界干扰 (UBD) 影响的传感器和执行器故障影响的由 Takagi-Sugeno (TS) 模糊模型表示的非线性系统的控制问题。为此，我们设计了一个自适应观测器来同时估计状态、传感器和执行器的故障向量，尽管存在外部干扰。基于此观察器，我们开发了容错控制 (FTC) 定律，不仅可以稳定闭环系统，还可以补偿故障影响。对于基于观测器的控制器设计，我们建议根据线性矩阵不等式 (LMI) 制定不太保守的条件。此外，观测器和控制器的增益都是通过单步求解一组 LMI 来计算的。最后，