Self-repairing Nonlinear Control using a Finite Escape Time

Abstract

In this paper, for plants with unknown sensor failures, a new design method for a self-repairing control system with a nonlinear detection filter is developed that can automatically replace the failed sensor with the backup. The nonlinear detection filter can be stabilized by the controller in the control system if there is no failure. However, it has a finite escape time in the faulty situations. Then, from this blowup property, by detecting the exploding signal of the filter, a sensor failure can be exactly detected within an arbitrarily prescribed time earlier than the finite escape time. Furthermore, to improve the control performance, the high-gain feedback controller is presented to cope with nonlinearity of the detection filter.