Integrated fault diagnosis and robust safe-parking for fault-tolerant control of nonlinear systems

In this work, we consider the problem of fault diagnosis and fault-handling for nonlinear systems subject to actuator faults. A model-based fault diagnosis scheme is proposed, which can not only identify the failed actuator, but also estimate the magnitude of the fault. With the aid of the fault diagnosis design, the safe-parking framework for fault-tolerant control is extended to handle the case where an actuator seizes at an arbitrary position. The efficacy of the proposed framework is demonstrated through a chemical reactor example.