Fault‐tolerant control of an aerial manipulator with guaranteed tracking performance

2021 ◽  
Author(s):  
Yadong Ding ◽  
Yaoyao Wang ◽  
Bai Chen
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Tracking Performance ◽  
Aerial Manipulator

scholarly journals Fault-Tolerant Control of Quadrotor UAVs Based on Back-Stepping Integral Sliding Mode Approach and Iterative Learning Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Davood Allahverdy ◽  
Ahmad Fakharian ◽  
Mohammad Bagher Menhaj
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Learning Algorithm ◽  
Fault Tolerant Control ◽  
Iterative Learning ◽  
Lyapunov Theory ◽  
Tracking Performance ◽  
External Disturbances ◽  
Integral Sliding Mode ◽  
Quadrotor Unmanned Aerial Vehicles

In this paper, a fault-tolerant control system based on back-stepping integral sliding mode controller (BISMC) is designed and analyzed for both nonlinear translational and rotational subsystems of the quadrotor unmanned aerial vehicles (UAVs). The novelty of this paper is about combination of a classic controller with a repetitive algorithm to reduce the response time to actuator faults and have better tracking performance. The actuator fault is defined based on the loss of effectiveness and bias fault. Next, the iterative learning control algorithm (ILCA) is used to compensate for the unknown fault input according to previous recorded experiences. In the normal condition (without actuators fault), BISMC can force the actual trajectories toward the desired commands and reduce chattering about control signals, and in the presence of the actuators fault or external disturbances, the mentioned learning algorithm can incline the accuracy of the tracking performance and compensate for the occurred error. The Lyapunov theory illustrates that the proposed control strategy can stabilize the system despite the actuators’ fault and external disturbances. The simulation results show the effectiveness of the proposed scheme in comparison with another method.

Adaptive fuzzy fault-tolerant control with guaranteed tracking performance for nonlinear strict-feedback systems

2016 ◽  
Vol 302 ◽  
pp. 82-100 ◽  
Author(s):  
Ding Zhai ◽  
Liwei An ◽  
Jinghao Li ◽  
Qingling Zhang
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Tracking Performance ◽  
Feedback Systems ◽  
Adaptive Fuzzy ◽  
Strict Feedback

scholarly journals Adaptive Fault-Tolerant Control of a Hybrid VTOL UAV against Actuator Faults and Model Uncertainties under Fixed-Wing Mode

2022 ◽  
Vol 2022 ◽  
pp. 1-11
Author(s):  
Ao He ◽  
Yinong Zhang ◽  
Huimin Zhao ◽  
Ban Wang ◽  
Zhenghong Gao
Keyword(s):  
Control Strategy ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Tracking Performance ◽  
Actuator Faults ◽  
Level Control ◽  
Model Uncertainties ◽  
Virtual Control ◽  
Control Signals

This paper proposes an adaptive fault-tolerant control strategy for a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults and model uncertainties. With the proposed adaptive control schemes, both actuator faults and model uncertainties can be accommodated without the knowledge of fault information and uncertainty bounds. The proposed control scheme is constructed with two separate control modules. The low-level control allocation module is used to distribute the virtual control signals among the available redundant actuators. The high-level control module is constructed with an adaptive sliding mode controller, which is employed to maintain the overall system tracking performance in both faulty and uncertain conditions. In the case of actuator faults and model uncertainties, the adaptive scheme will be triggered to generate more virtual control signals to compensate the virtual control error and maintain the desired system tracking performance. The effectiveness of the proposed control strategy is validated through comparative simulation tests under different faulty and uncertain scenarios.

A Novel Speed and Current Sensor Fault-Tolerant Control Based on Estimated Stator Currents in Induction Motor Drives

2020 ◽  
Vol 15 (5) ◽  
pp. 344
Author(s):  
Cuong Dinh Tran ◽  
Pavel Brandstetter ◽  
Martin Kuchar ◽  
Sang Dang Ho
Keyword(s):  
Induction Motor ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Motor Drives ◽  
Current Sensor ◽  
Sensor Fault ◽  
Induction Motor Drives

A Carrier-Based Fault-Tolerant Control Method for Three-Level Neutral-Point-Clamped Inverter

2020 ◽  
Author(s):  
Zhan Gao ◽  
YaoHua Li ◽  
QiongXuan Ge ◽  
Lu Zhao ◽  
Ke Wang ◽  
...  
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Neutral Point

A fault tolerant control method of EPS based on novel fault diagnosis

2015 ◽  
Author(s):  
S.L. Feng ◽  
H.X. Liu ◽  
X. Wang ◽  
F. Xiao ◽  
G.L. Wang
Keyword(s):  
Fault Diagnosis ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control

Fault tolerant control for 4WID/4WIS electric vehicles: theory and its applications

2015 ◽  
Author(s):  
J. Liu ◽  
C.F. Zong ◽  
G.Y. Chen ◽  
C. Liu ◽  
G. Li
Keyword(s):  
Electric Vehicles ◽  
Fault Tolerant ◽  
Fault Tolerant Control
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