Observer-Based Active Fault/Disturbance Compensation Control for Fully Actuated Systems
arXiv:2603.00981 · doi:10.1007/s11432-025-4817-2
Abstract
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.
This paper was initially accepted by SCIENCE CHINA Information Sciences on 09-Oct-2025, editorially revised on 28-Feb-2026, and has been scheduled for publication in Volume 69, Issue 5 (2026). *Corresponding author: Guang-Ren Duan