{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:40:32Z","timestamp":1777927232045,"version":"3.51.4"},"reference-count":33,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2019,6,24]],"date-time":"2019-06-24T00:00:00Z","timestamp":1561334400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2020,2]]},"abstract":"<jats:p>\n                    The present article deals with adaptive sliding mode fault tolerant control design for uncertain nonlinear systems, affected by multiplicative faults, that is described under Takagi\u2013Sugeno fuzzy representation. First, we propose to conceive robust adaptive observer in order to achieve states and multiplicative faults estimation in the presence of nonlinear system uncertainties. Under the nonlinear Lipschitz condition, the observer gains are attained by solving the multi-objective optimization problem. Second, sliding mode controller is suggested to offer a solution of the closed-loop system stability even the occurrence of real fault effects. The main objective is to compensate multiplicative fault effects based on output feedback information. Sufficient conditions are developed with\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mrow>\n                          <mml:msub>\n                            <mml:mrow>\n                              <mml:mi>H<\/mml:mi>\n                            <\/mml:mrow>\n                            <mml:mrow>\n                              <mml:mi>\u221e<\/mml:mi>\n                            <\/mml:mrow>\n                          <\/mml:msub>\n                        <\/mml:mrow>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    performances and expressed as a set of linear matrix inequalities subject to compute controller gains. Finally, simulation results, using the nonlinear model of a single-link flexible joint robot system, are given to illustrate the capability of the suggested fault tolerant control strategy to treat multiplicative faults.\n                  <\/jats:p>","DOI":"10.1177\/0959651819857385","type":"journal-article","created":{"date-parts":[[2019,6,25]],"date-time":"2019-06-25T12:27:08Z","timestamp":1561465628000},"page":"147-159","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":7,"title":["Adaptive sliding mode fault tolerant control design for uncertain nonlinear systems with multiplicative faults: Takagi\u2013Sugeno fuzzy approach"],"prefix":"10.1177","volume":"234","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4723-2506","authenticated-orcid":false,"given":"Ali","family":"Ben Brahim","sequence":"first","affiliation":[{"name":"Engineering Laboratory of Industrial Systems and Renewable Energies, National Higher School of Engineers of Tunis, Tunis University, Tunis, Tunisia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Slim","family":"Dhahri","sequence":"additional","affiliation":[{"name":"Engineering Laboratory of Industrial Systems and Renewable Energies, National Higher School of Engineers of Tunis, Tunis University, Tunis, Tunisia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fay\u00e7al","family":"Ben Hmida","sequence":"additional","affiliation":[{"name":"Engineering Laboratory of Industrial Systems and Renewable Energies, National Higher School of Engineers of Tunis, Tunis University, Tunis, Tunisia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Anis","family":"Sellami","sequence":"additional","affiliation":[{"name":"Engineering Laboratory of Industrial Systems and Renewable Energies, National Higher School of Engineers of Tunis, Tunis University, Tunis, Tunisia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2019,6,24]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2017.09.023"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2017.0969"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2014.02.016"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2009.08.003"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-12767-0"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-85729-650-4"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-013-0227-1"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1177\/0959651815621674"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1177\/0142331217711748"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1177\/0142331217728568"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1545"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-012-0521-3"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2011.0440"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1177\/0959651816654070"},{"key":"e_1_3_2_16_2","first-page":"4371","volume-title":"Proceedings of the 41st IEEE conference on decision and control","volume":"4","author":"Ding SX","unstructured":"Ding SX, Frank PM, Ding L. 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