Fuzzy fault-tolerant-predictive control for a class of nonlinear uncertain systems

In this paper, a fault-tolerant fuzzy model-predictive control with the integral action method for a class of nonlinear uncertain systems is proposed. Nonlinear uncertain systems subject to actuators and/or sensors faults are represented by the Takagi–Sugeno (T-S) fuzzy model. The objective is to design a stable, robust and efficient fault-tolerant controller based on a T-S fuzzy observer with measurable premise variables. The proposed T-S fuzzy observer estimates state vector and faults. Based on Lyapunov theory, the trajectory tracking performances and the closed-loop system stability are analysed. The gains of the fuzzy observer and the pre-stabilized control law are obtained by solving linear matrix inequalities. Simulation results illustrate the robustness of the proposed controller with respect to uncertainties on an academic mathematical system.