title: A hybrid robust fault tolerant control based on adaptive joint unscented Kalman filter.
abstract: In this paper, a new hybrid robust fault tolerant control scheme is proposed. A robust H∞control law is used in non-faulty situation, while a Non-Singular Terminal Sliding Mode (NTSM) controller is activated as soon as an actuator fault is detected. Since a linear robust controller is designed, the system is first linearized through the feedback linearization method. To switch from one controller to the other, a fuzzy based switching system is used. An Adaptive Joint Unscented Kalman Filter (AJUKF) is used for fault detection and diagnosis. The proposed method is based on the simultaneous estimation of the system states and parameters. In order to show the efficiency of the proposed scheme, a simulated 3-DOF robotic manipulator is used.
authors.affiliation: Control Engineering Department, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran. Electronic address: y.shabbouei92@ms.tabrizu.ac.ir.
authors.forename: Yashar
authors.initials: Y
authors.lastname: Shabbouei Hagh
authors.affiliation: Control Engineering Department, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran. Electronic address: r.mohammadi92@ms.tabrizu.ac.ir.
authors.forename: Reza
authors.initials: R
authors.lastname: Mohammadi Asl
authors.affiliation: Univ. Lille, CNRS, Centrale Lille, UMR 9189-CRIStAL: Centre de Recherche en Informatique, Signal et Automatique de Lille, F-59000 France. Electronic address: vincent.cocquempot@univ-lille1.fr.
authors.forename: Vincent
authors.initials: V
authors.lastname: Cocquempot
keywords:  robust controller; Adaptive joint unscented Kalman filter; Fault detection and diagnosis; Fault tolerant control; Fuzzy logic based switching system; Non-singular terminal sliding mode control