Finite-Time Compensation Control for State-Variable-Unmeasurable Nonlinear Systems With Sensor and Actuator Faults

A new finite-time tracking control approach is developed for nonlinear systems that have actuator and sensor faults and system state variables are not measurable. A fault compensation coefficient is used to alleviate the problem caused by the partial loss of the effectiveness of sensor. A novel fault-tolerant controller based on a state observer is proposed. Being different from conventional schemes, the constructed observer includes an adaptive fault-tolerant compensation mechanism. The presented control method is able to compensate for actuator and sensor faults at the same time, and the tracking error converges to a small residual set within finite time. The results of a numerical simulation and a practical example demonstrate the effectiveness of the proposed strategy.