scholarly journals Actuator fault estimation and fault tolerant control in three physically-linked 2WD mobile robots

2018 ◽  
Vol 51 (24) ◽  
pp. 709-716 ◽  
Author(s):  
Daniel A. Pereira ◽  
Ayad Al-Dujaili ◽  
Maan El Badaoui El Najjar ◽  
Vincent Cocquempot ◽  
Yajie Ma
Keyword(s):  
Mobile Robots ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Estimation ◽  
Actuator Fault

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.

Fuzzy Fault Tolerant Control of a Bacterial Growth Process Using a Multiple Lyapunov Function

2020 ◽  
Vol 143 (3) ◽  
Author(s):  
Abdelmounaim Khallouq ◽  
Asma Karama ◽  
Mohamed Abyad
Keyword(s):  
Lyapunov Function ◽  
Bacterial Growth ◽  
Growth Process ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Estimation ◽  
Time Varying ◽  
Actuator Fault ◽  
Actuator Faults ◽  
Multiple Lyapunov Function

Abstract This paper presents the problem of actuator fault estimation and fault-tolerant control (FTC) of a biological process using Takagi–Sugeno fuzzy formulation. The goal is to ensure the desired outputs tracking even if the time-varying actuator faults occur. We propose to use a proportional multi-integral (PMI) observer to estimate both the time-varying actuator faults and the state of system. The reconstructed faults are used to reconfigure the nominal controller. As a nominal control, we use a fuzzy linear quadratic integral (LQI) law. To ensure the global asymptotic convergence of the PMI observer and to improve the compensation speed of faults, we propose to use the multiple Lyapunov function by introducing a convergence rate. Sufficient conditions in terms of linear matrix inequalities (LMIs) are developed. The obtained results show that, the proposed approach is successfully applied to the problem of actuator fault-tolerant control of a bacterial growth process.

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

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.

Predictive actuator fault-tolerant control under ellipsoidal bounding

2015 ◽  
Vol 30 (2) ◽  
pp. 375-392 ◽  
Author(s):  
Marcin Witczak ◽  
Mariusz Buciakowski ◽  
Christophe Aubrun
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Actuator Fault
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