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<p>This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with enhanced design flexibility for the fully actuated system model, enabling simultaneous estimation of system states and exogenous unknown signals, such as faults or disturbances. Then, a nonlinear controller is developed with an active fault or disturbance compensation term, leveraging the fully actuated system approach. The asymptotic stability of both the state estimation error and the closed-loop control system is systematically established. Finally, the feasibility and merits of the proposed method are validated through comparative simulations and experiments.</p>

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Observer-based active fault/disturbance compensation control for fully actuated systems

  • 期刊论文

  • 发表日期：

    2026年3月31日

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  • Weijie Ren,
  • Guang-Ren Duan,
  • Ping Li,
  • He Kong

摘要

This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with enhanced design flexibility for the fully actuated system model, enabling simultaneous estimation of system states and exogenous unknown signals, such as faults or disturbances. Then, a nonlinear controller is developed with an active fault or disturbance compensation term, leveraging the fully actuated system approach. The asymptotic stability of both the state estimation error and the closed-loop control system is systematically established. Finally, the feasibility and merits of the proposed method are validated through comparative simulations and experiments.