Sliding mode fault detection and fault-tolerant control of smart dampers in semi-active control of building structures

In this paper, an adaptive Takagi–Sugeno (T–S) fuzzy sliding mode extended autoregressive exogenous input (ARX)–Laguerre proportional integral (PI) observer is proposed. The proposed T–S fuzzy sliding mode extended-state ARX–Laguerre PI observer adaptively improves the reliability, robustness, estimation accuracy, and convergence of fault detection, estimation, and identification. For fault-tolerant control in the presence of uncertainties and unknown conditions, an adaptive fuzzy sliding mode estimation technique is introduced. The sliding surface slope gain is significant to improve the system’s stability, but the sliding mode technique increases high-frequency oscillation (chattering), which reduces the precision of the fault diagnosis and tolerant control. A fuzzy procedure using a sliding surface and actual output position as inputs can adaptively tune the sliding surface slope gain of the sliding mode fault-tolerant control technique. The proposed robust adaptive T–S fuzzy sliding mode estimation extended-state ARX–Laguerre PI observer was verified with six degrees of freedom (DOF) programmable universal manipulation arm (PUMA) 560 robot manipulator, proving qualified efficiency in detecting, isolating, identifying, and tolerant control for faults inherent in sensors and actuators. Experimental results showed that the proposed technique improves the reliability of the fault detection, estimation, identification, and tolerant control.

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Active versus passive fault-tolerant control of a redundant multirotor UAV

The Aeronautical Journal ◽

10.1017/aer.2019.149 ◽

2019 ◽

Vol 124 (1273) ◽

pp. 385-408

Author(s):

M. Saied ◽

B. Lussier ◽

I. Fantoni ◽

H. Shraim ◽

C. Francis

Keyword(s):

Fault Tolerance ◽

Fault Detection ◽

Active Fault ◽

Fault Tolerant ◽

Sliding Mode ◽

Fault Tolerant Control ◽

Fault Detection And Isolation ◽

Detection Scheme ◽

Redundancy Management ◽

Model Free

ABSTRACTThis paper considers actuator redundancy management for a redundant multirotor Unmanned Aerial Vehicle (UAV) under actuators failures. Different approaches are proposed: using robust control (passive fault tolerance), and reconfigurable control (active fault tolerance). The robust controller is designed using high-order super-twisting sliding mode techniques, and handles the failures without requiring information from a Fault Detection scheme. The Active Fault-Tolerant Control (AFTC) is achieved through redistributing the control signals among the healthy actuators using reconfigurable multiplexing and pseudo-inverse control allocation. The Fault Detection and Isolation problem is also considered by proposing model-based and model-free modules. The proposed techniques are all implemented on a coaxial octorotor UAV. Different experiments with different scenarios were conducted for the validation of the proposed strategies. Finally, advantages, disadvantages, application considerations and limitations of each method are examined through quantitative and qualitative studies.

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Adaptive Observer-Based Fault Detection and Fault-Tolerant Control of Quadrotors under Rotor Failure Conditions

Applied Sciences ◽

10.3390/app10103503 ◽

2020 ◽

Vol 10 (10) ◽

pp. 3503 ◽

Cited By ~ 1

Author(s):

Yu-Hsuan Lien ◽

Chao-Chung Peng ◽

Yi-Hsuan Chen

Keyword(s):

Fault Detection ◽

Flight Control ◽

Control Strategy ◽

Fault Tolerant ◽

Sliding Mode ◽

External Disturbance ◽

Fault Tolerant Control ◽

Adaptive Observer ◽

Fault Estimation ◽

Failure Conditions

This paper aims to propose a strategy for the flight control of quad-rotors under single rotor failure conditions. The proposed control strategy consists of two stages—fault detection (FD) and fault tolerant control (FTC). A dual observer-based strategy for FD and fault estimation is developed. With the combination of the results from both observers, the decision making in whether a fault actually happened or the observed anomaly was caused by an external disturbance could be distinguished. Following the FD result, a control strategy for normal flight, as well as the abnormal one, is presented. The FTC considers a real-time coordinate transformation scheme to manipulate the target angles for the quad-rotor to follow a prescribed trajectory. When a rotor fault happens, it is going to be detected by the dual observers and then the FTC is activated to stabilize the system such that the trajectory following task can still be fulfilled. Furthermore, in order to achieve robust flight in the presence of external wind perturbation, the sliding mode control (SMC) theory is further integrated. Simulations illustrate the effectiveness and feasibility of the proposed method.

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Implementation of Improved Sliding Mode Observer and Fault Tolerant Control for a PMSM Drive

Journal of Circuits System and Computers ◽

10.1142/s0218126617500323 ◽

2016 ◽

Vol 26 (02) ◽

pp. 1750032 ◽

Cited By ~ 8

Author(s):

Hechmi Ben Azza ◽

Mongi Moujahed ◽

Mohamed Jemli ◽

Mohamed Boussak

Keyword(s):

Fault Detection ◽

Permanent Magnet ◽

Fault Tolerant ◽

Sliding Mode ◽

Permanent Magnet Synchronous Motor ◽

Fault Tolerant Control ◽

Sliding Mode Observer ◽

Experimental Results ◽

Fault Detection And Isolation ◽

Stator Resistance

This paper presents the development and experimentation of Fault-Tolerant Control (FTC) for sensorless Permanent Magnet Synchronous Motor (PMSM) drive with stator resistance tuning. In the fault-tolerant inverter, a redundant leg is added to replace the faulted leg. Consequently, the proposed inverter is a modified topology inverter with fault-tolerant capability, which can be configured as 3-phase 8-switch inverter. The detection of the faulty leg is based only on the output inverter currents measurement. To make toggle to a redundant leg in case of fault occurrence, a Fault Detection and Isolation (FDI) algorithm is proposed in this paper. Experimental results are presented using a 1.4[Formula: see text]kW, three poles three-phases PMSM. These results show that the proposed FDI algorithm is able to detect and to isolate the open-phase fault in PMSM drive.

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Dual-sliding mode approach for separated fault detection and tolerant control for functional safety of longitudinal autonomous driving

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/0954407020962627 ◽

2020 ◽

pp. 095440702096262

Author(s):

Taejun Song ◽

Jongmin Lee ◽

Kwangseok Oh ◽

Kyongsu Yi

Keyword(s):

Fault Detection ◽

Fault Tolerant ◽

Sliding Mode ◽

Linear Quadratic Regulator ◽

Fault Tolerant Control ◽

Autonomous Driving ◽

Sliding Mode Observer ◽

Functional Safety ◽

Linear Quadratic ◽

Fault Reconstruction

This paper describes model-based separated fault detection and fault tolerant control of longitudinal autonomous driving using dual-sliding mode observer for functional safety. Internal and environment sensors such as camera or radar are required to measure the acceleration information of the subject vehicle and the relative distance and velocity information between the preceding and subject vehicles in longitudinal autonomous driving. In order to detect the independent fault of each sensor, a dual-sliding mode observer (SMO) is used for fault reconstruction under the assumption that V2V (Vehicle to Vehicle) communication for vehicle driving state is available. The each SMO reconstructs the expected fault in sensor based on discontinuous injection term used for converging output error to zero. Based on the reconstructed fault by each SMO, faults are detected using threshold approach. When the fault is detected, the reconstructed fault is used for fault tolerant control by subtracting to faulty data. The proposed fault detection (FD) and fault tolerant control (FTC) algorithms were evaluated using actual driving data and a three-dimensional (3D) vehicle model with a linear quadratic regulator for following control. The evaluation results are presented and analyzed with regard to fault reconstruction, detection, and tolerant control in four cases wherein two types of faults were applied.

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Sliding mode methods for fault detection and fault tolerant control

IFAC Proceedings Volumes ◽

10.3182/20120829-3-mx-2028.00095 ◽

2012 ◽

Vol 45 (20) ◽

pp. 1 ◽

Cited By ~ 3

Author(s):

Christopher Edwards

Keyword(s):

Fault Detection ◽

Fault Tolerant ◽

Sliding Mode ◽

Fault Tolerant Control

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Fault Detection and Fault-Tolerant Control of a Civil Aircraft Using a Sliding-Mode-Based Scheme

IEEE Transactions on Control Systems Technology ◽

10.1109/tcst.2007.906311 ◽

2008 ◽

Vol 16 (3) ◽

pp. 499-510 ◽

Cited By ~ 129

Author(s):

H. Alwi ◽

C. Edwards

Keyword(s):

Fault Detection ◽

Fault Tolerant ◽

Sliding Mode ◽

Fault Tolerant Control ◽

Civil Aircraft

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Sliding mode methods for fault detection and fault tolerant control with application to aerospace systems

International Journal of Applied Mathematics and Computer Science ◽

10.2478/v10006-012-0008-7 ◽

2012 ◽

Vol 22 (1) ◽

pp. 109-124 ◽

Cited By ~ 26

Author(s):

Christopher Edwards ◽

Halim Alwi ◽

Chee Tan

Keyword(s):

Fault Detection ◽

Fault Tolerant ◽

Sliding Mode ◽

Fault Tolerant Control ◽

Flight Simulator ◽

Signal Estimation ◽

Control Scheme ◽

Aerospace Systems ◽

Strong Robustness ◽

Control Injection

Sliding mode methods for fault detection and fault tolerant control with application to aerospace systemsSliding mode methods have been historically studied because of their strong robustness properties with regard to a certain class of uncertainty, achieved by employing nonlinear control/injection signals to force the system trajectories to attain in finite time a motion along a surface in the state-space. This paper will consider how these ideas can be exploited for fault detection (specifically fault signal estimation) and subsequently fault tolerant control. It will also describe applications of these ideas to aerospace systems, including piloted flight simulator results associated with the GARTEUR AG16 Action Group on Fault Tolerant Control. The results demonstrate a successful real-time implementation of the proposed fault tolerant control scheme on a motion flight simulator configured to represent the post-failure EL-AL aircraft.

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Actuator Fault Detection and Fault-Tolerant Control for Hexacopter

Sensors ◽

10.3390/s19214721 ◽

2019 ◽

Vol 19 (21) ◽

pp. 4721 ◽

Cited By ~ 3

Author(s):

Nguyen ◽

Mung ◽

Hong

Keyword(s):

Fault Detection ◽

Control Method ◽

Fault Tolerant ◽

Sliding Mode ◽

Detection System ◽

Control Strategies ◽

Fault Tolerant Control ◽

Actuator Faults ◽

Actuator Failures ◽

The One

In this paper, fault detection and fault-tolerant control strategies are proposed to handle the issues of both actuator faults and disturbances in a hexacopter. A dynamic model of a hexacopter is first derived to develop a model-based fault detection system. Secondly, the altitude control based on a sliding mode and disturbance observer is presented to tackle the disturbance issue. Then, a nonlinear Thau observer is applied to estimate the states of a hexacopter and to generate the residuals. Using a fault detection unit, the motor failure is isolated to address the one or two actuator faults. Finally, experimental results are tested on a DJI F550 hexacopter platform and Pixhawk2 flight controller to verify the effectiveness of the proposed approach. Unlike previous studies, this work can integrate fault detection and fault-tolerant control design as a single unit. Moreover, the developed fault detection and fault-tolerant control method can handle up to two actuator failures in presence of disturbances.

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