Set-Based Fault-Tolerant Control for Continuous-Time Nonlinear Systems: A Fully Actuated System Approach

This article proposes a set-based actuator fault detector and fault-tolerant control (FTC) strategy within the framework of the fully actuated system (FAS) approach. Unlike conventional set-based techniques that rely on normal observer structures and are computationally intensive, our approach constructs a set-based detector directly from the closed-loop system generated by FAS stabilization control. For continuous-time nonlinear (including linear) systems, we design a controller integrating stabilization and fault accommodation laws. The detector gain design reversely leverages the Gershgorin circle theorem for flexible pole placement, avoiding sensitive regions or achieving pole isolation. Simulations and comparative experiments validate the proposed method, demonstrating its superior fault detection and accommodation capabilities.