A Virtual-Structure-Based Type-3 Fuzzy System for Predictive Sensor and Actuator Fault Detection, Compensation, and Control in Nonlinear Systems

A Virtual-Structure-Based Type-3 Fuzzy System for Predictive Sensor and Actuator Fault Detection, Compensation, and Control in Nonlinear Systems | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article A Virtual-Structure-Based Type-3 Fuzzy System for Predictive Sensor and Actuator Fault Detection, Compensation, and Control in Nonlinear Systems Xiaofeng Hong, Nurkhat Zhakiyev, Didar Yedilkhan*, Arman Khani, and 2 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8021591/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 03 Feb, 2026 Read the published version in Scientific Reports → Version 1 posted 14 You are reading this latest preprint version Abstract This paper presents an active fault-tolerant control strategy for a class of nonlinear systems subject to both actuator and sensor faults. The system dynamics are assumed to be completely unknown, and only the measured outputs and the applied control inputs are used for system identification. Accordingly, the system is treated as a black-box model. The proposed control framework consists of three integrated subsystems. The first subsystem incorporates a Type-3 fuzzy logic system to model the unknown nonlinear dynamics, in conjunction with a model predictive controller and an adaptive stabilizing unit. The second subsystem is dedicated to sensor fault diagnosis and compensation, employing two Type-3 fuzzy estimators and a supervisory module that generates a corrective signal proportional to the magnitude of the actual sensor fault. The third subsystem constitutes a virtual dynamic structure composed of a virtual sensor, a virtual actuator, a Type-3 fuzzy identifier, a virtual predictive controller, a virtual fault detection unit, an internal adaptive compensator, and a supervisory mechanism.In the virtual structure, a virtual sensor fault is introduced at the initial stages, and a virtual actuator generates an estimated signal corresponding to the actual actuator's behavior. The main T3FLS model is then dynamically adapted to eliminate the effect of actuator faults, considering the information from the virtual system. A Lyapunov-based stability analysis is applied to demonstrate that the system remains asymptotically stable under the proposed control and fault compensation scheme. Physical sciences/Engineering Physical sciences/Mathematics and computing Type-3 fuzzy logic Virtual dynamic Actuator Fault Sensor fault Predictive control Lyapunov stability Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 03 Feb, 2026 Read the published version in Scientific Reports → Version 1 posted Editorial decision: Revision requested 14 Dec, 2025 Reviews received at journal 12 Dec, 2025 Reviews received at journal 05 Dec, 2025 Reviewers agreed at journal 04 Dec, 2025 Reviews received at journal 04 Dec, 2025 Reviewers agreed at journal 04 Dec, 2025 Reviews received at journal 03 Dec, 2025 Reviewers agreed at journal 13 Nov, 2025 Reviewers agreed at journal 11 Nov, 2025 Reviewers invited by journal 11 Nov, 2025 Editor invited by journal 06 Nov, 2025 Editor assigned by journal 04 Nov, 2025 Submission checks completed at journal 04 Nov, 2025 First submitted to journal 03 Nov, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8021591","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":544512671,"identity":"4545ce71-de4a-4b2c-b174-f8cae603eaf4","order_by":0,"name":"Xiaofeng Hong","email":"","orcid":"","institution":"Zhejiang Guangsha Vocational and Technical University of Construction","correspondingAuthor":false,"prefix":"","firstName":"Xiaofeng","middleName":"","lastName":"Hong","suffix":""},{"id":544512672,"identity":"157e8b4e-1596-4264-a4da-a255d3b1bc45","order_by":1,"name":"Nurkhat Zhakiyev","email":"","orcid":"","institution":"Astana IT 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Systems","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true},"keywords":"Type-3 fuzzy logic, Virtual dynamic, Actuator Fault, Sensor fault, Predictive control, Lyapunov stability","lastPublishedDoi":"10.21203/rs.3.rs-8021591/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-8021591/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThis paper presents an active fault-tolerant control strategy for a class of nonlinear systems subject to both actuator and sensor faults. The system dynamics are assumed to be completely unknown, and only the measured outputs and the applied control inputs are used for system identification. Accordingly, the system is treated as a black-box model. The proposed control framework consists of three integrated subsystems. The first subsystem incorporates a Type-3 fuzzy logic system to model the unknown nonlinear dynamics, in conjunction with a model predictive controller and an adaptive stabilizing unit. The second subsystem is dedicated to sensor fault diagnosis and compensation, employing two Type-3 fuzzy estimators and a supervisory module that generates a corrective signal proportional to the magnitude of the actual sensor fault. The third subsystem constitutes a virtual dynamic structure composed of a virtual sensor, a virtual actuator, a Type-3 fuzzy identifier, a virtual predictive controller, a virtual fault detection unit, an internal adaptive compensator, and a supervisory mechanism.In the virtual structure, a virtual sensor fault is introduced at the initial stages, and a virtual actuator generates an estimated signal corresponding to the actual actuator's behavior. The main T3FLS model is then dynamically adapted to eliminate the effect of actuator faults, considering the information from the virtual system. A Lyapunov-based stability analysis is applied to demonstrate that the system remains asymptotically stable under the proposed control and fault compensation scheme.\u003c/p\u003e","manuscriptTitle":"A Virtual-Structure-Based Type-3 Fuzzy System for Predictive Sensor and Actuator Fault Detection, Compensation, and Control in Nonlinear Systems","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-11-21 10:04:56","doi":"10.21203/rs.3.rs-8021591/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"decision","content":"Revision requested","date":"2025-12-14T14:56:09+00:00","index":"","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-12-12T15:53:32+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-12-05T17:22:39+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"240825744134135264713738248208698518909","date":"2025-12-04T22:58:30+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-12-04T18:32:52+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"326216897074739023780320825653788454793","date":"2025-12-04T13:59:57+00:00","index":"hide","fulltext":""},{"type":"editorInvitedReview","content":"","date":"2025-12-03T18:48:54+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"286943439671429905385367809941711306425","date":"2025-11-13T11:58:43+00:00","index":"hide","fulltext":""},{"type":"reviewerAgreed","content":"111939313268053829385114057044075957462","date":"2025-11-11T11:50:04+00:00","index":"hide","fulltext":""},{"type":"reviewersInvited","content":"","date":"2025-11-11T11:42:43+00:00","index":"","fulltext":""},{"type":"editorInvited","content":"","date":"2025-11-06T09:06:33+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2025-11-04T12:23:57+00:00","index":"","fulltext":""},{"type":"checksComplete","content":"","date":"2025-11-04T12:23:29+00:00","index":"","fulltext":""},{"type":"submitted","content":"Scientific Reports","date":"2025-11-03T17:14:41+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"scientific-reports","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"scirep","sideBox":"Learn more about [Scientific Reports](http://www.nature.com/srep/)","snPcode":"","submissionUrl":"","title":"Scientific Reports","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Scientific Reports","inReviewEnabled":true,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"85c4f487-6a95-4a1f-bda6-9be5b68b347e","owner":[],"postedDate":"November 21st, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"published-in-journal","subjectAreas":[{"id":57934449,"name":"Physical sciences/Engineering"},{"id":57934450,"name":"Physical sciences/Mathematics and computing"}],"tags":[],"updatedAt":"2026-02-09T16:05:18+00:00","versionOfRecord":{"articleIdentity":"rs-8021591","link":"https://doi.org/10.1038/s41598-026-38456-0","journal":{"identity":"scientific-reports","isVorOnly":false,"title":"Scientific Reports"},"publishedOn":"2026-02-03 15:57:21","publishedOnDateReadable":"February 3rd, 2026"},"versionCreatedAt":"2025-11-21 10:04:56","video":"","vorDoi":"10.1038/s41598-026-38456-0","vorDoiUrl":"https://doi.org/10.1038/s41598-026-38456-0","workflowStages":[]},"version":"v1","identity":"rs-8021591","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-8021591","identity":"rs-8021591","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}