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This chapter introduces an innovative observer-based low-power fault-tolerant control framework for nonideal time-varying high-order fully actuated systems (FASs). The FAS theory is an emerging control system theory, which can yield global stability of nonlinear systems. In order to enhance the robustness against parameter uncertainties, actuator faults, and sensor noise, an observer-based low-power FAS controller framework is established in the chapter. Additionally, the linear framework adheres to the generalized separation principle and emphasizes the advantages of FAS parametric structures. Furthermore, the work takes into consideration fault tolerance and noise suppression in practical applications, reducing reliance on precise modeling. The uniformly bounded stability and noise suppression performance are also confirmed theoretically and supported experimentally.

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Low-Power FTC for FASs Against Actuator Faults

  • 章节

  • 出版模式：

    开放获取

  • 发表日期：

    2026年

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  • Donghua Zhou,
  • Miao Cai

摘要

This chapter introduces an innovative observer-based low-power fault-tolerant control framework for nonideal time-varying high-order fully actuated systems (FASs). The FAS theory is an emerging control system theory, which can yield global stability of nonlinear systems. In order to enhance the robustness against parameter uncertainties, actuator faults, and sensor noise, an observer-based low-power FAS controller framework is established in the chapter. Additionally, the linear framework adheres to the generalized separation principle and emphasizes the advantages of FAS parametric structures. Furthermore, the work takes into consideration fault tolerance and noise suppression in practical applications, reducing reliance on precise modeling. The uniformly bounded stability and noise suppression performance are also confirmed theoretically and supported experimentally.