Self-Healing Fault-Tolerant Control for High-Order Fully Actuated Systems Against Sensor Faults: A Redundancy Framework

This article presents a novel self-healing fault accommodation framework for high-order fully actuated systems (HOFASs) with sensor faults. Starting from the HOFAS model with nonlinear measurements, a q-redundant observation proposition is derived from an observability normal form based on each individual measurement. On the heels of the ultimately uniformly bounded error dynamics, a definition of sensor fault accommodation is determined. After a necessary and sufficient accommodation condition is highlighted, a self-healing fault-tolerant control strategy is proposed, which can be applied in steady-state processes or transient processes. The main results are proved theoretically and illustrated experimentally.