Observer Based Fault Estimation and Fault-Tolerant Sliding Mode Control for Nonlinear Systems

Observer Based Fault Estimation and Fault-Tolerant Sliding Mode Control for 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 Research Article Observer Based Fault Estimation and Fault-Tolerant Sliding Mode Control for Nonlinear Systems Xingjian Sun, Yelu Gu, Juping Gu, Guoping Lu, Junqiang Zheng This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6521479/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract In this article, a observer based sliding mode fault tolerant control (SMFTC) problem is discessed to guarantee the reliability for a class of nonlinear systems. To handle the unpredictable and simultaneous sensor fault and actuator fault, a unknown input sliding mode observer (UISMO) is developed with the integral switching function by taking the unmeasured states into account. By utilizing the UISMO, an augmented error system is established and guaranteed to be stable. Ulteriorly, both the unmeasured states and faults can be estimated and reconstructed simultaneously, which relaxes the strict constraints of actuator fault must being a step signal. Based on the fully estimation information, a SMFTC strategy is established under adaptive reaching law (ARL) to reduce the system chattering and restore the system performance when the unpredictable actuator and sensor faults occur. Then, a flexible joint robot arm system is provided to illuminate the reasonableness of the proposed UISMO and SMFTC scheme. Fault estimation Unknown input sliding mode observer Sliding mode fault tolerant control Takagi-Sugeno fuzzy model Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted 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. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. 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-6521479","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":452953411,"identity":"97bf98d2-daf7-4de0-9d8f-6ec8347295f9","order_by":0,"name":"Xingjian Sun","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA70lEQVRIiWNgGAWjYDACZiCWMAAzGR9AhBKI18JsAFFNSAsSYJMgSovBcd7DLywK7PLkZ+Qeqy78cZiBnz3HgOHnDtxaJJv50iwkDJKLDW7kpd2ekXCYQbLnjQFj7xncWviZecwMJAyYEzdI5Jjd5gFqMbiRY8DM2IbH/RAt9YnzZ+SYFYO02BPSArTF+IGEweHEhhs5ZsxgWyQIaJFs5jEDBvLxxA1n3hhL86Sl80iceVZwsBePFoPzZ4w/S/ypTpzfnmP4mcfGWo6/PXnjg594tIC8Iy2BxOMBEQfwagBG+scPBFSMglEwCkbBCAcAT1FHGHgzdFEAAAAASUVORK5CYII=","orcid":"","institution":"Nantong University","correspondingAuthor":true,"prefix":"","firstName":"Xingjian","middleName":"","lastName":"Sun","suffix":""},{"id":452953413,"identity":"da79b1f3-d78c-4f04-8a2b-e4724b2c7966","order_by":1,"name":"Yelu Gu","email":"","orcid":"","institution":"Nantong University","correspondingAuthor":false,"prefix":"","firstName":"Yelu","middleName":"","lastName":"Gu","suffix":""},{"id":452953415,"identity":"85894286-d976-4f22-9ccf-7599599eb89e","order_by":2,"name":"Juping Gu","email":"","orcid":"","institution":"Nantong University","correspondingAuthor":false,"prefix":"","firstName":"Juping","middleName":"","lastName":"Gu","suffix":""},{"id":452953417,"identity":"e7c821ea-f237-4c43-a6cb-42337bd0451b","order_by":3,"name":"Guoping Lu","email":"","orcid":"","institution":"Nantong University","correspondingAuthor":false,"prefix":"","firstName":"Guoping","middleName":"","lastName":"Lu","suffix":""},{"id":452953418,"identity":"f9acb3ec-99f8-4c00-8184-785dfe80c20c","order_by":4,"name":"Junqiang Zheng","email":"","orcid":"","institution":"Nantong University","correspondingAuthor":false,"prefix":"","firstName":"Junqiang","middleName":"","lastName":"Zheng","suffix":""}],"badges":[],"createdAt":"2025-04-24 14:08:08","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6521479/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6521479/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":86857937,"identity":"395211c2-2fea-4171-8f08-388533f21aab","added_by":"auto","created_at":"2025-07-16 11:31:52","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":788227,"visible":true,"origin":"","legend":"","description":"","filename":"SpringNDMain.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6521479/v1_covered_f5d610fc-9d1f-429f-9d32-e6e9ffe1ce99.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Observer Based Fault Estimation and Fault-Tolerant Sliding Mode Control for Nonlinear Systems","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Fault estimation, Unknown input sliding mode observer, Sliding mode fault tolerant control, Takagi-Sugeno fuzzy model","lastPublishedDoi":"10.21203/rs.3.rs-6521479/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6521479/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"In this article, a observer based sliding mode fault tolerant control (SMFTC) problem is discessed to guarantee the reliability for a class of nonlinear systems. 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