An integrated fault estimation/fault‐tolerant control (FTC) scheme is developed in this article for nonlinear Lipschitz systems in the presence of external disturbances and actuator failures. To address this problem, coupled uncertainties between the observer error dynamics and the control system are considered, which is conveniently ignored in control approaches based on the separation principle. An H_∞‐based adaptive observer is proposed to simultaneously estimate the system states and actuator faults without the restrictive strictly positive realness or persistent excitation conditions. The FTC is constructed by sliding mode control using the estimated states generated by the developed observer. A novel sufficient condition is derived in terms of linear matrix inequality (LMI) including both the system control dynamics and the estimation errors; then, the control parameters and observer gains are simultaneously obtained via solving the mentioned LMI based on the H_∞ optimization. Finally, a flexible joint robot is considered to illustrate the effectiveness of the developed method.

中文翻译：

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基于H∞的自适应观测器的综合故障估计与容错控制方法

本文针对存在外部干扰和执行器故障的非线性Lipschitz系统，开发了一种集成的故障估计/容错控制（FTC）方案。为了解决这个问题，考虑了观察者误差动力学和控制系统之间的耦合不确定性，在基于分离原理的控制方法中可以方便地忽略这些不确定性。一^ h _∞基于自适应观测器被建议同时估计系统状态和执行器故障，而没有严格的正实性或持续激励条件。通过使用由开发的观察者生成的估计状态的滑模控制来构造FTC。根据线性矩阵不等式（LMI）得出了一个新颖的充分条件，其中包括系统控制动力学和估计误差。然后，控制参数和观测器增益通过基于所述解决所提到的LMI同时获得ħ _∞优化。最后，考虑使用柔性关节机器人来说明所开发方法的有效性。