Observer-Based Active Fault/Disturbance Compensation Control for Fully Actuated Systems
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866911492125753344 |
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| author | Ren, Weijie Duan, Guang-Ren Li, Ping Kong, He |
| author_facet | Ren, Weijie Duan, Guang-Ren Li, Ping Kong, He |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_00981 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Observer-Based Active Fault/Disturbance Compensation Control for Fully Actuated Systems Ren, Weijie Duan, Guang-Ren Li, Ping Kong, He Systems and Control 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. |
| title | Observer-Based Active Fault/Disturbance Compensation Control for Fully Actuated Systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.00981 |