Active fault-tolerant control for two-wheeled differential drive mobile robot based on fault compensation method

This paper presents a finite frequency-based active fault tolerant control approach for the compensation of unknown failures in linear time-delay plants. An integration of fault detection filter based on observer technology and [Formula: see text] controller in residual feedback form is considered in the active fault tolerant control system. Different from the traditional schemes, exact fault estimation is not necessary in the proposed active fault tolerant control. To achieve the desired system performance when a fault occurs, the residual is directly embedded in the control loop as a feedback term to compensate the influence of fault. By employing the Generalized Kalman–Yakubovich–Popov lemma, we derive the sufficient conditions of the existence of such an active fault tolerant control plant, and iterative algorithms are applied to obtain the solutions to the fault detection filter and controller parameter matrices. Finally, simulation results are proposed to demonstrate the effectiveness of the developed scheme.

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Active fault tolerant control scheme for aircraft with dissimilar redundant actuation system subject to hydraulic failure

Journal of the Franklin Institute ◽

10.1016/j.jfranklin.2018.11.018 ◽

2019 ◽

Vol 356 (3) ◽

pp. 1302-1332 ◽

Cited By ~ 6

Author(s):

Salman Ijaz ◽

Lin Yan ◽

Mirza Tariq Hamayun ◽

Cun Shi

Keyword(s):

Active Fault ◽

Fault Tolerant ◽

Fault Tolerant Control ◽

Redundant Actuation ◽

Hydraulic Failure ◽

Actuation System ◽

Control Scheme ◽

Active Fault Tolerant Control

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Active fault-tolerant control of a double inverted pendulum

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1243/09596518jsce367 ◽

2007 ◽

Vol 221 (6) ◽

pp. 895-904 ◽

Cited By ~ 1

Author(s):

Z Weng ◽

R. J. Patton ◽

P Cui

Keyword(s):

Inverted Pendulum ◽

Active Fault ◽

Fault Tolerant ◽

Fault Tolerant Control ◽

Fault Detection And Isolation ◽

Residual Vector ◽

Pendulum System ◽

Inverted Pendulum System ◽

Affine Parameter ◽

Active Fault Tolerant Control

This paper proposes an active fault-tolerant control scheme based on a gain-scheduled H∞ design strategy. Under the assumption that the effects of faults on the system can be of affine parameter dependence, a reconfigurable robust H∞ controller is developed. The resulting controller is a function of the fault effect factors, which can be derived online from the residual vector of the fault detection and isolation (FDI) mechanism. To demonstrate the effectiveness of the proposed method, a non-linear double inverted pendulum system with a fault in the motor tachometer loop is considered. The adaptive fault-tolerant controller recovers well from the unstable system with loop failure.

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