An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems

2007 ◽  
pp. 171-182
Author(s):  
Luca Gentili ◽  
Andrea Paoli ◽  
Claudio Bonivento
Keyword(s):  
Hamiltonian Systems ◽  
Internal Model ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Model Approach

Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach

2018 ◽  
Vol 232 (6) ◽  
pp. 652-661 ◽  
Author(s):  
Parisa Yazdjerdi ◽  
Nader Meskin
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Fault Tolerant ◽  
Kinematic Model ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Multiple Model ◽  
Control Approach ◽  
Differential Drive ◽  
Model Approach

In this article, an actuator fault-tolerant control scheme is proposed for differential-drive mobile robots based on the concept of multiple-model approach. The nonlinear kinematic model of the differential-drive mobile robot is discretized and a bank of extended Kalman filters is designed to detect, isolate, and identify actuator faults. A fault-tolerant controller is then developed based on the detected fault to accommodate its effect on the trajectory-tracking performance of the mobile robot. Extensive experimental results are presented to demonstrate the efficacy of the proposed fault-tolerant control approach.

Internal model based fault tolerant control strategy for PMS motors

2014 ◽  
Author(s):  
Hemza Mekki ◽  
Omar Benzineb ◽  
Djamel Boukhetala ◽  
Mohamed Tadjine ◽  
Larbi Chrifi-Alaoui
Keyword(s):  
Control Strategy ◽  
Internal Model ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Model Based
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