Dynamic output feedback fault tolerant controller design for discrete-time switched systems with actuator fault

2015 ◽  
Vol 16 ◽  
pp. 93-103 ◽  
Author(s):  
Dongsheng Du ◽  
Yushun Tan ◽  
Yue Zhang
Keyword(s):  
Discrete Time ◽  
Output Feedback ◽  
Switched Systems ◽  
Controller Design ◽  
Fault Tolerant ◽  
Dynamic Output Feedback ◽  
Actuator Fault ◽  
Dynamic Output

scholarly journals Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures

2015 ◽  
Vol 2015 ◽  
pp. 1-14
Author(s):  
Yuanchun Li ◽  
Fan Zhou ◽  
Bo Zhao
Keyword(s):  
Output Feedback ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
System Model ◽  
Linear Matrix ◽  
Dynamic Output Feedback ◽  
Actuator Fault ◽  
Dynamic Output ◽  
Reconfigurable Manipulators

The goal of this paper is to describe an active decentralized fault-tolerant control (ADFTC) strategy based on dynamic output feedback for reconfigurable manipulators with concurrent actuator and sensor failures. Consider each joint module of the reconfigurable manipulator as a subsystem, and treat the fault as the unknown input of the subsystem. Firstly, by virtue of linear matrix inequality (LMI) technique, the decentralized proportional-integral observer (DPIO) is designed to estimate and compensate the sensor fault online; hereafter, the compensated system model could be derived. Then, the actuator fault is estimated similarly by another DPIO using LMI as well, and the sufficient condition of the existence ofH∞fault-tolerant controller in the dynamic output feedback is presented for the compensated system model. Furthermore, the dynamic output feedback controller is presented based on the estimation of actuator fault to realize active fault-tolerant control. Finally, two 3-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in simulation. The main advantages of the proposed scheme lie in that it can handle the concurrent faults act on the actuator and sensor on the same joint module, as well as there is no requirement of fault detection and isolation process; moreover, it is more feasible to the modularity of the reconfigurable manipulator.

scholarly journals H∞ Reliable Dynamic Output-Feedback Controller Design for Discrete-Time Singular Systems with Sensor Saturation

Actuators ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 196
Author(s):  
Mourad Kchaou ◽  
Houssem Jerbi ◽  
Naim Ben Ali ◽  
Haitham Alsaif
Keyword(s):  
Discrete Time ◽  
Output Feedback ◽  
Fault Tolerant ◽  
Singular Systems ◽  
Singular System ◽  
System Stability ◽  
Linear Matrix ◽  
Dynamic Output Feedback ◽  
Dynamic Output ◽  
Sensor Saturation

In this study, we investigate the H∞ fault-tolerant control problem for a discrete-time singular system which is subject to external disturbances, actuator faults, and sensor saturation. By assuming that the state variable of the system is unavailable for measurement, and the actuator fault can be described by a Markovian jump process, attention is mainly focused on designing a reliable dynamic output-feedback (DOF) controller able to compensate for the effects of the aforementioned factors on the system stability and performance. Based on the sector non-linear approach to handle the sensor saturation, a new criterion is established to ensure that the closed-loop system is stochastically admissible with a γ level of the H∞ disturbance rejection performance. The main aim of this work is to develop a procedure for synthesizing the controller gains without any model transformation or decomposition of the output matrix. Therefore, by introducing a slack variable, the H∞ admissibility criterion is successfully transformed in terms of strict linear matrix inequalities (LMIs). Three practical examples are exploited to test the feasibility and effectiveness of the proposed approach.

scholarly journals Static Output Feedback Control for Discrete-Time Switched Systems via Improved Path-Following Method

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Jian Chen ◽  
Chong Lin
Keyword(s):  
Feedback Control ◽  
Discrete Time ◽  
Output Feedback ◽  
Switched Systems ◽  
Controller Design ◽  
Output Feedback Control ◽  
Path Following ◽  
Static Output Feedback ◽  
Static Output Feedback Control ◽  
Static Output

This paper focuses on the problems of static output feedback control andH∞controller design for discrete-time switched systems. Based on piecewise quadratic Lyapunov functions and a new linearization method, new sufficient conditions for system stability andH∞controller design are obtained. Then, an improved path-following algorithm is built to solve the problems. Finally, the merits and effectiveness of the proposed method are shown by two numerical examples.

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