Robust Actuator Fault-Tolerant LQR Control of Unmanned Bicycle Robot. A Feedback Linearization Approach

An integrated fault tolerant controller is proposed for vehicle chassis system. Based on the coupled characteristics of vertical and lateral system, the fault tolerant controller mainly concentrates on the cooperative control of controllable suspension and lateral system with external disturbances and actuator faults. A nine-DOF coupled model is developed for fault reconstruction and accurate control. Firstly, a fault reconstruction mechanism based on sliding mode is introduced; when the sliding mode achieves, actuator fault signals can be observed exactly through selecting appropriate gain matrix and equivalent output injection term. Secondly, an active suspension controller, a roll moment controller and a stability controller is developed respectively; the integrated control strategy is applied to the system under different driving conditions: when the car is traveling straightly, the main purpose of the integrated strategy is to improve the vertical performance; the lateral controller including roll moment control and stability control will be triggered when there is a steering angle input. Simulations experiments verify the performance enhancement and stability of the proposed controller under three different driving conditions.

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Parameter-dependent actuator fault estimation for vehicle active suspension systems based on RBFNN

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/0954407021993014 ◽

2021 ◽

pp. 095440702199301

Author(s):

Wenping Xue ◽

Pan Jin ◽

Kangji Li

Keyword(s):

Fault Tolerant ◽

External Disturbance ◽

Active Suspension ◽

Fault Estimation ◽

Linear Matrix ◽

Actuator Fault ◽

Mass Variation ◽

Fe Method ◽

Comparison Results ◽

Parameter Dependent

The actuator fault estimation (FE) problem is addressed in this study for the quarter-car active suspension system (ASS) with consideration of the sprung mass variation. Firstly, the ASS is modeled as a parameter-dependent system with actuator fault and external disturbance input. Then, a parameter-dependent FE observer is designed by using the radial basis function neural network (RBFNN) to approximate the actuator fault. In addition, the design conditions are turned into a linear matrix inequality (LMI) problem which can be easily solved with the aid of LMI toolbox. Finally, simulation and comparison results are given to show the accuracy and rapidity of the proposed FE method, as well as good adaptability against the sprung mass variation. Moreover, a simple FE-based active fault-tolerant control (AFTC) strategy is provided to further demonstrate the effectiveness and applicability of the proposed FE method.

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Predictive actuator fault-tolerant control under ellipsoidal bounding

International Journal of Adaptive Control and Signal Processing ◽

10.1002/acs.2567 ◽

2015 ◽

Vol 30 (2) ◽

pp. 375-392 ◽

Cited By ~ 20

Author(s):

Marcin Witczak ◽

Mariusz Buciakowski ◽

Christophe Aubrun

Keyword(s):

Fault Tolerant ◽

Fault Tolerant Control ◽

Actuator Fault

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A Robust Control Design Approach Combining Exact Linearization and High-Gain PI-Observer

Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C ◽

10.1115/detc2007-34344 ◽

2007 ◽

Cited By ~ 1

Author(s):

Yan Liu ◽

Dirk So¨ffker

Keyword(s):

Feedback Linearization ◽

Control Method ◽

High Gain ◽

Observer Design ◽

Input State ◽

Exact Linearization ◽

Practical Applications ◽

Robust Control Design ◽

Nonlinear Control Method ◽

Feedback Linearization Approach

This paper introduces a robust nonlinear control method combining classical feedback linearization and a high-gain PI-Observer (Proportional-Integral Observer) approach that can be applied to control a nonlinear single-input system with uncertainties or unknown effects. It is known that the lack of robustness of the feedback linearization approach limits its practical applications. The presented approach improves the robustness properties and extends the application area of the feedback linearization control. The approach is developed analytically and fully illustrated. An example which uses input-state linearization and PI-Observer design is given to illustrate the idea and to demonstrate the advantages.

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Fixed-Time Sliding-Mode Fault-Tolerant Control of Waste Heat Power Generator Systems

Complexity ◽

10.1155/2018/3580628 ◽

2018 ◽

Vol 2018 ◽

pp. 1-8 ◽

Cited By ~ 1

Author(s):

Zhi Wang ◽

Yateng Bai ◽

Jin Xie ◽

Zhijie Li ◽

Caoyuan Ma ◽

...

Keyword(s):

Fault Tolerant ◽

Waste Heat ◽

Sliding Mode ◽

Dynamic Performance ◽

Tracking Error ◽

Fixed Time ◽

Fault Estimation ◽

Actuator Fault ◽

Heat Power ◽

Time Control

In order to overcome disturbances such as the instability of internal parameters or the actuator fault, the time-varying proportional-integral sliding-mode surface is defined for coordinated control of the excitation generator and the steam valve of waste heat power generation units, and a controller based on sliding-mode function is designed which makes the system stable for a limited time and gives it good performance. Based on this, a corresponding fault estimation law is designed for specific faults of systems, and a sliding-mode fault-tolerant controller is constructed based on the fixed-time control theory so that the systems can still operate stably when an actuator fault occurs and have acceptable performance. The simulation results show that the tracking error asymptotically tends to be zero, and the fixed-time sliding-mode fault-tolerant controller can obviously improve the dynamic performance of the system.

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Dynamic modeling and design of controller for the 2-DoF serial chain actuated by a cable-driven robot based on feedback linearization

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/09544062211027922 ◽

2021 ◽

pp. 095440622110279

Author(s):

Vahid Bahrami ◽

Ahmad Kalhor ◽

Mehdi Tale Masouleh

Keyword(s):

Dynamic Modeling ◽

Pid Controller ◽

Feedback Linearization ◽

Tracking Error ◽

Pid Controllers ◽

Serial Chain ◽

Simulation Results ◽

The Stability ◽

Feedback Linearization Approach ◽

Bounded Disturbance

This study intends to investigate a dynamic modeling and design of controller for a planar serial chain, performing 2-DoF, in interaction with a cable-driven robot. The under study system can be used as a rehabilitation setup which is helpful for those with arm disability. The latter goal can be achieved by applying the positive tensions of the cable-driven robot which are designed based on feedback linearization approach. To this end, the system dynamics formulation is developed using Lagrange approach and then the so-called Wrench-Closure Workspace (WCW) analysis is performed. Moreover, in the feedback linearization approach, the PD and PID controllers are used as auxiliary controllers input and the stability of the system is guaranteed as a whole. From the simulation results it follows that, in the presence of bounded disturbance based on Roots Mean Square Error (RMSE) criteria, the PID controller has better performance and tracking error of the 2-DoF robot joints are improved 15.29% and 24.32%, respectively.

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