Robust trajectory tracking and fault-tolerant control for hyperbaric oxygen chambers based on High-order Fully Actuated System approaches

Abstract

Precise and reliable control of hyperbaric oxygen chambers (HBOCs) is crucial for effective therapy, yet conventional control algorithms often struggle with limited accuracy, poor disturbance rejection, and inadequate fault handling. To overcome these limitations, this paper presents a novel high-order fully actuated (HOFA) control framework that achieves both high-precision trajectory tracking and fault-tolerant operation in HBOCs. Specifically, a robust trajectory tracking controller is developed that incorporates an extended state observer, model approximations, and a disturbance compensation mechanism to effectively manage nonlinear system dynamics, parameter uncertainties, and actuator saturation. Additionally, a comprehensive fault-tolerant control strategy is introduced, employing fault detection and estimation combined with pole-placement control and redundant control allocation to ensure reliable system performance under various failure scenarios. Experimental results demonstrate that the proposed HOFA-based trajectory tracking and fault-tolerant control scheme significantly outperforms previous HBOC controllers with improved stability and robustness.