Design of finite-time active fault tolerant control system with real-time fault estimation for a remotely operated vehicle

To solve the problems with the existing active fault-tolerant control system, which does not consider the cooperative control of the drive system and steering system or accurately relies on the vehicle model when one or more motors fail, a multi-input and multi-output model-free adaptive active fault-tolerant control method for four-wheel independently driven electric vehicles is proposed. The method, which only uses the input/output data of the vehicle in the control system design, is based on a new dynamic linearization technique with a pseudo-partial derivative, aimed at solving the complex and nonlinear issues of the vehicle model. The desired control objectives can be achieved by the coordinated adaptive fault-tolerant control of the drive and steering systems under different failure conditions of the drive system. The error convergence and input-output boundedness of the control system are proven by means of stability analysis. Finally, simulations and further experiments are carried out to validate the effectiveness and real-time response of the fault-tolerant system in different driving scenarios. The results demonstrate that our proposed approach can maintain the longitudinal speed error (within 3%) and lateral stability, thereby improving the safety of the vehicles.

Download Full-text

Active Fault Tolerant Control Based on Fault Estimation

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.635-637.1199 ◽

2014 ◽

Vol 635-637 ◽

pp. 1199-1202 ◽

Cited By ~ 2

Author(s):

Zheng Gao Hu ◽

Guo Rong Zhao ◽

Da Wang Zhou

Keyword(s):

Active Fault ◽

Fault Tolerant ◽

Sliding Mode ◽

Fault Tolerant Control ◽

Sliding Mode Observer ◽

Fault Estimation ◽

Control Law ◽

Active Fault Tolerant Control ◽

The Stability ◽

Twisting Algorithm

For the chattering problem in the traditional sliding mode observer-based fault estimation, a second order sliding mode observer based on the Super-twisting algorithm was proposed. In order to avoid the cumbersome process of proving the stability of the Super-twisting algorithm, a Lyapunov function was adopted. An active fault tolerant control law was designed based on the fault estimation. Finally, simulation show the effectiveness of the proposed approach.

Download Full-text

Active Fault-Tolerant Control of a Quadcopter against Time-Varying Actuator Faults and Saturations Using Sliding Mode Backstepping Approach

Applied Sciences ◽

10.3390/app9194010 ◽

2019 ◽

Vol 9 (19) ◽

pp. 4010 ◽

Cited By ~ 2

Author(s):

Ngoc Phi Nguyen ◽

Sung Kyung Hong

Keyword(s):

Fault Diagnosis ◽

Active Fault ◽

Fault Tolerant ◽

Sliding Mode ◽

Fault Tolerant Control ◽

Lyapunov Theory ◽

Fault Estimation ◽

Time Varying ◽

Actuator Faults ◽

Active Fault Tolerant Control

Fault-tolerant control is becoming an interesting topic because of its reliability and safety. This paper reports an active fault-tolerant control method for a quadcopter unmanned aerial vehicle (UAV) to handle actuator faults, disturbances, and input constraints. A robust fault diagnosis based on the H ∞ scheme was designed to estimate the magnitude of a time-varying fault in the presence of disturbances with unknown upper bounds. Once the fault estimation was complete, a fault-tolerant control scheme was proposed for the attitude system, using adaptive sliding mode backstepping control to accommodate the actuator faults, despite actuator saturation limitation and disturbances. The Lyapunov theory was applied to prove the robustness and stability of the closed-loop system under faulty operation. Simulation results show the effectiveness of the fault diagnosis scheme and proposed controller for handling actuator faults.

Download Full-text