Adaptive Sliding Mode Fault-Tolerant Control for a Class of Uncertain Systems With Probabilistic Random Delays

In this paper, an adaptive sliding mode fault tolerant control (ASMFTC) approach is proposed for a class of nonlinear systems with actuator fault, uncertainty, and external disturbance. Specifically, first, a novel observer is proposed to estimate the state, actuator fault, and external disturbance. Then, by utilising the observed information, a novel output sliding mode observer is constructed. In the control method, an adaptive law and two compensators are designed to attenuate the unknown estimation errors, actuator fault, and disturbance. Furthermore, the reaching ability of the sliding motion is analysed and the H-infinite performance is introduced to ensure the robustness of the system. Finally, a flexible single joint manipulator system and a two-cart system are used to verify the effectiveness of the proposed method.

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Fault Tolerant Control Scheme Using Adaptive Sliding Mode Control Allocation

2019 6th International Conference on Control, Instrumentation and Automation (ICCIA) ◽

10.1109/iccia49288.2019.9030902 ◽

2019 ◽

Author(s):

Navid Abbasi ◽

Ali Khaki Sedigh ◽

Mehdi Naderi ◽

Seyed Reza Jafari

Keyword(s):

Sliding Mode Control ◽

Fault Tolerant ◽

Sliding Mode ◽

Fault Tolerant Control ◽

Adaptive Sliding Mode Control ◽

Control Allocation ◽

Adaptive Sliding Mode ◽

Mode Control ◽

Control Scheme

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Sliding mode fault-tolerant control for Takagi-Sugeno fuzzy systems with local nonlinear models: Application to inverted pendulum and cart system

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331220949366 ◽

2020 ◽

pp. 014233122094936

Author(s):

Riadh Hmidi ◽

Ali Ben Brahim ◽

Slim Dhahri ◽

Fayçal Ben Hmida ◽

Anis Sellami

Keyword(s):

Fuzzy Systems ◽

Inverted Pendulum ◽

Fault Tolerant ◽

Sliding Mode ◽

Nonlinear Models ◽

Fault Tolerant Control ◽

Simultaneous Occurrence ◽

Sensor Faults ◽

Adaptive Sliding Mode ◽

Takagi Sugeno

This paper proposes fault-tolerant control design for uncertain nonlinear systems described under Takagi-Sugeno fuzzy systems with local nonlinear models that satisfy the Lipschitz condition. First, by transforming sensor faults as ‘pseudo-actuator’ faults, an adaptive sliding mode observer is designed in order to simultaneously estimate system states, actuator and sensor faults despite the presence of norm-bounded uncertainties. Second, an adaptive sliding mode controller is suggested to provide a solution to stabilize the closed-loop system, even in the event of simultaneous occurrence of faults in actuators and sensors. Next, the main objective of the fault-tolerant control strategy is to compensate for the effects of fault based on the feedback information. Therefore, using the LMI optimization method, sufficient conditions are developed with [Formula: see text] to calculate the gains of the observer and the controller. Then, particular attention is paid to the simultaneous maximization, by convex multi-objective optimization, of the Lipschitz nonlinear constant in Takagi-Sugeno fuzzy modelling and uncertainties attenuation level. The results of the simulation illustrate the effectiveness of our fault-tolerant control approach using a nonlinear inverted pendulum with a cart system.

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Adaptive Sliding Mode Controller Designs for Fault-Tolerant Control Systems with Sensor Failures and State Time-Delays

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.503-504.1647 ◽

2012 ◽

Vol 503-504 ◽

pp. 1647-1650

Author(s):

Sheng Qi Sun ◽

Xue Bin Li

Keyword(s):

Control Systems ◽

Time Delays ◽

Fault Tolerant ◽

Sliding Mode ◽

Fault Tolerant Control ◽

Sliding Mode Controller ◽

State Time ◽

Adaptive Sliding Mode ◽

Sensor Failures ◽

Adaptive Sliding Mode Controller

In this paper, an adaptive sliding model design method is proposed to deal with the asymptotic stabilization problem for a class of fault-tolerant control systems with sensor failures and state time-delays. The considered faults on sensors are assumed to be unknown but depended on the system states without breaching the practical case, while the effects of time delays are also related to the states. For the sake of eliminating the effects of sensor faults and delays, an adaptive sliding mode controller is developed by using the fault signals transmitted by sensors with adjusting some adaptive estimations. Then the asymptotic stability results are ensured by using the proposed static output feedback controller via Lyapunov stability theory. The proposed design technique is finally evaluated in the light of a simulation example.

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