Fault tolerant robust control with transients for over-actuated nonlinear systems

For the problem of robust fault tolerant control of over-actuated nonlinear systems, a new robust synthesis method is investigated. The nonlinear system is modeled via a T-S fuzzy system approach with actuators layout. Based on a designed non-parallel distributed compensation form controller, the closed loop system is obtained. Then a more generalized performance index is introduced by involving the system transients and actuator faults. With a newly proposed nonlinear approximation method, a series of linear matrix inequalities which can make the system robust stable are listed. Finally, based on a dynamic positioning vessel control task, the validity of the proposed method is verified.