This article concerns the estimation and tracking control problems for Takagi–Sugeno systems with disturbances and norm bounded uncertainties in presence of sensor and actuator faults (SAF). First, we propose a robust fuzzy observer (RFO) design method to estimate both state and SAF for the considered class of the nonlinear systems. Then, this RFO‐based fault tolerant tracking control is developed not only to compensate the SAF effects but also to ensure the state convergence to desired trajectories in spite of their presence. To reduce the conservatism of design conditions, observer and controller gains are calculated in a single step by solving a set of linear matrix inequality constraints. H_∞ criterion is used to attenuate disturbance effects and to reduce the tracking error. Finally, simulation results by considering two types of actuator fault and comparative study on a single link flexible joint manipulator are provided to underline the performances of the mentioned process.

中文翻译：

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不确定的Takagi–Sugeno模糊系统的鲁棒故障估计和容错跟踪控制：在单链路机械臂上的应用

本文涉及存在传感器和执行器故障（SAF）的具有干扰和范数界不确定性的Takagi–Sugeno系统的估计和跟踪控制问题。首先，我们提出了一种鲁棒的模糊观测器（RFO）设计方法来估计所考虑的非线性系统类别的状态和SAF。然后，开发了这种基于RFO的容错跟踪控制，不仅可以补偿SAF效应，而且还可以确保状态收敛到所需轨迹（尽管它们存在）。为了减少设计条件的保守性，通过解决一组线性矩阵不等式约束，可以在单个步骤中计算观察者和控制器的增益。^ h _∞准则用于减弱干扰影响并减少跟踪误差。最后，通过考虑两种类型的执行器故障的仿真结果以及对单连杆柔性关节机械手的比较研究来强调上述过程的性能。