Fault diagnosis and fault-tolerant control for a nonlinear electro-hydraulic system

This paper proposes a fault-tolerant control strategy for a nonlinear electro-hydraulic system. The fault-tolerant control scheme consists a fault diagnosis system and a reconfigurable controller. The fault diagnosis system is designed based on differential-geometric approach and is robust to system disturbance. Adaptive backstepping method is utilized for realizing the reconfigurable controller. The control performance of the electro-hydraulic system can be guaranteed even in the presence of considered faults.