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Mathematical Problems in Engineering
Volume 2013, Article ID 372957, 8 pages
Research Article

Robust Fault Tolerant Control for a Class of Time-Delay Systems with Multiple Disturbances

1Department of Automation, College of Information Engineering, Yangzhou University, Yangzhou 225127, China
2National Key Laboratory on Aircraft Control Technology, School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China

Received 11 April 2013; Accepted 25 May 2013

Academic Editor: Yang Yi

Copyright © 2013 Songyin Cao and Jianzhong Qiao. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A robust fault tolerant control (FTC) approach is addressed for a class of nonlinear systems with time delay, actuator faults, and multiple disturbances. The first part of the multiple disturbances is supposed to be an uncertain modeled disturbance and the second one represents a norm-bounded variable. First, a composite observer is designed to estimate the uncertain modeled disturbance and actuator fault simultaneously. Then, an FTC strategy consisting of disturbance observer based control (DOBC), fault accommodation, and a mixed / controller is constructed to reconfigure the considered systems with disturbance rejection and attenuation performance. Finally, simulations for a flight control system are given to show the efficiency of the proposed approach.