Fractional-order active fault-tolerant force-position controller design for the legged robots using saturated actuator with unknown bias and gain degradation

2018 ◽  
Vol 104 ◽  
pp. 465-486 ◽  
Author(s):  
Yousef Farid ◽  
Vahid Johari Majd ◽  
Abbas Ehsani-Seresht
Keyword(s):  
Fractional Order ◽  
Active Fault ◽  
Controller Design ◽  
Fault Tolerant ◽  
Legged Robots ◽  
Position Controller ◽  
Unknown Bias

scholarly journals Active Fault Tolerant Control for Ultrasonic Piezoelectric Motor

2012 ◽  
Vol 63 (4) ◽  
pp. 224-232
Author(s):  
Moussa Boukhnifer
Keyword(s):  
Active Fault ◽  
Controller Design ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Operating Conditions ◽  
System Component ◽  
Control Architecture ◽  
Piezoelectric Motor ◽  
Youla Parameterization ◽  
Active Fault Tolerant Control

Active Fault Tolerant Control for Ultrasonic Piezoelectric MotorUltrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions. Due to these constraints, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an ultrasonic piezoelectric motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback control system will be solely controlled by the proportional plus double-integralPI2 performance controller for a nominal model without disturbances andH∞robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture.

Active fault tolerant control of turbofan engines with actuator faults under disturbances

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Yan-Hua Ma ◽  
Xian Du ◽  
Lin-Feng Gou ◽  
Si-Xin Wen
Keyword(s):  
Active Fault ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Feedback Controller ◽  
Actuator Faults ◽  
Error Feedback ◽  
Turbofan Engine ◽  
Turbofan Engines ◽  
Interval Observer ◽  
State Error

AbstractIn this paper, an active fault-tolerant control (FTC) scheme for turbofan engines subject to simultaneous multiplicative and additive actuator faults under disturbances is proposed. First, a state error feedback controller is designed based on interval observer as the nominal controller in order to achieve the model reference rotary speed tracking control for the fault-free turbofan engine under disturbances. Subsequently, a virtual actuator based reconfiguration block is developed aiming at preserving the consistent performance in spite of the occurrence of the simultaneous multiplicative and additive actuator faults. Moreover, to improve the performance of the FTC system, the interval observer is slightly modified without reconstruction of the state error feedback controller. And a theoretical sufficiency criterion is provided to ensure the stability of the proposed active FTC system. Simulation results on a turbofan engine indicate that the proposed active FCT scheme is effective despite of the existence of actuator faults and disturbances.

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