Integrated Fault Tolerant Control for Closed-Loop System with Uncertain Packet Loss

2018 ◽  
Author(s):  
Chen Juan ◽  
Hu Xian ◽  
Zhong Yongyan ◽  
Qiu Aibing
Keyword(s):  
Packet Loss ◽  
Closed Loop ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Loop System ◽  
Closed Loop System

Robust attitude fault-tolerant control for unmanned autonomous helicopter with flapping dynamics and actuator faults

2018 ◽  
Vol 41 (5) ◽  
pp. 1266-1277 ◽  
Author(s):  
Kun Yan ◽  
Mou Chen ◽  
Qiangxian Wu ◽  
Ke Lu
Keyword(s):  
Closed Loop ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Loop System ◽  
System Stability ◽  
Actuator Faults ◽  
Closed Loop System ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Autonomous Helicopter

In this paper, an adaptive robust fault-tolerant control scheme is developed for attitude tracking control of a medium-scale unmanned autonomous helicopter with rotor flapping dynamics, external unknown disturbances and actuator faults. For the convenience of control design, the actuator dynamics with respect to the tail rotor are introduced. The adaptive fault observer and robust item are employed to observe the actuator faults and eliminate the effect of external disturbances, respectively. A backstepping-based robust fault-tolerant control scheme is designed with the aim of obtaining satisfactory tracking performance and closed-loop system stability is proved via Lyapunov analysis, which guarantees the convergence of all closed-loop system signals. Simulation results are given to show the effectiveness of the proposed control method.

scholarly journals Multiplicative Fault Estimation-Based Adaptive Sliding Mode Fault-Tolerant Control Design for Nonlinear Systems

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Ali Ben Brahim ◽  
Slim Dhahri ◽  
Fayçal Ben Hmida ◽  
Anis Sellami
Keyword(s):  
Nonlinear System ◽  
Closed Loop ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Loop System ◽  
Fault Estimation ◽  
Closed Loop System ◽  
Adaptive Sliding Mode ◽  
Multiplicative Fault

This article deals with the sliding mode fault-tolerant control (FTC) problem for a nonlinear system described under Takagi-Sugeno (T-S) fuzzy representation. In particular, the nonlinear system is corrupted with multiplicative actuator faults, process faults, and uncertainties. We start by constructing the separated FTC design to ensure robust stability of the closed-loop nonlinear system. First, we propose to conceive an adaptive observer in order to estimate nonlinear system states, as well as robust multiplicative fault estimation. The novelty of the proposed approach is that the observer gains are obtained by solving the multiobjective linear matrix inequality (LMI) optimization problem. Second, an adaptive sliding mode controller is suggested to offer a solution to stabilize the closed-loop system despite the occurrence of real fault effects. Compared with the separated FTC, this paper provides an integrated sliding mode FTC in order to achieve an optimal robustness interaction between observer and controller models. Thus, in a single-step LMI formulation, sufficient conditions are developed with multiobjective optimization performances to guarantee the stability of the closed-loop system. At last, nonlinear simulation results are given to illustrate the effectiveness of the proposed FTC to treat multiplicative faults.

scholarly journals Comparing the Performance of Reference Trajectory Management and Controller Reconfiguration in Attitude Fault Tolerant Control

2018 ◽  
Vol 151 ◽  
pp. 04008
Author(s):  
Rouzbeh Moradi ◽  
Alireza Alikhani ◽  
Mohsen Fathi Jegarkandi
Keyword(s):  
Control Problem ◽  
Closed Loop ◽  
Fault Tolerant ◽  
Dynamic Performance ◽  
Fault Tolerant Control ◽  
Spacecraft Attitude ◽  
Reference Trajectory ◽  
System Behavior ◽  
Closed Loop System ◽  
Reference Trajectories

Reference trajectory management is a method to modify reference trajectories for the faulty system. The modified reference trajectories define new maneuvers for the system to retain its pre-fault dynamic performance. Controller reconfiguration is another method to handle faults in the system, for instance by adjusting the controller parameters (coefficients). Both of these two methods have been considered in the literature and are proven to be capable of handling various faults. However, the comparison of these two methods has not been considered sufficiently. In this paper, a controller reconfiguration mechanism and a reference trajectory management are proposed for the spacecraft attitude fault tolerant control problem. Then, these two methods are compared under the same conditions, and it is shown that the proposed controller reconfiguration has better performance than the proposed reference trajectory management. The reason is that the controller reconfiguration has more variables to modify the closed-loop system behavior.

Fuzzy fault-tolerant containment control for multi-agent systems with unknown nonlinear dynamics

2021 ◽  
pp. 014233122110430
Author(s):  
Malika Sader ◽  
Fuyong Wang ◽  
Zhongxin Liu ◽  
Zengqiang Chen
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Fault Tolerant ◽  
Nonlinear Function ◽  
Loop System ◽  
Multi Agent Systems ◽  
Closed Loop System ◽  
Containment Control ◽  
Agent Systems ◽  
Multi Agent

This paper studies the containment control problem for a class of nonlinear multi-agent systems (MASs) with actuator faults (AFs) and external disturbance under switching communication topologies. To address this problem, a new fuzzy fault-tolerant containment control method is developed via utilizing adaptive mechanisms. Furthermore, a sufficient condition is obtained to guarantee the stability of the considered closed-loop system by the dwell time technique combined with Lyapunov stability theory. Unlike the traditional method to estimate the weight matrix, the fuzzy logic system is used to estimate the norm of weight vectors. Thus, the difficulty that the unknown nonlinear function cannot be compensated for when the actuator produces outage or stuck fault is solved. Compared with the existing controllers for nonlinear MASs, the proposed controller is more suitable for the considered problem under the influence of AFs that are detrimental to the operation of each agent system. Besides which, the closed-loop system is proven to be stable by using the developed controller, and all followers converge asymptotically to the convex hull formed by the leaders. Finally, an example based on a reduced-order aircraft model is presented to verify the effectiveness of the designed control scheme.

Fault Tolerant Control and Classification for Longitudinal Vehicle Control

2003 ◽  
Vol 125 (3) ◽  
pp. 320-329 ◽  
Author(s):  
Bongsob Song ◽  
J. Karl Hedrick ◽  
Adam Howell
Keyword(s):  
Closed Loop ◽  
Fault Tolerant ◽  
Optimization Technique ◽  
Tracking Error ◽  
Fault Detection And Diagnosis ◽  
Loop System ◽  
Fault Classification ◽  
Closed Loop System ◽  
Dynamic Surface ◽  
Performance Loss

In this paper, a new method of analyzing for the performance loss caused by faults in the systems is presented, and applied to the design of a fault tolerant longitudinal controller for a transit bus. Based on the amount of performance loss measured by a quadratic function, fault impact assessment is developed for both single and multiple faults. More specifically, ellipsoidal approximation of the tracking error bounds via dynamic surface control (DSC) is obtained via convex optimization technique for the nonlinear closed-loop system. Relying on the fault impact to the closed loop system and its isolatability on a fault detection and diagnosis system, the fault classification is proposed to provide a switching logic in the framework of a switched hierarchical structure. Finally, simulation results of the fault tolerant controller and corresponding fault classification are shown for multiple multiplicative faults.

scholarly journals Fault-Tolerant Control for Networked Control Systems with Limited Information in Case of Actuator Fault

2015 ◽  
Vol 2015 ◽  
pp. 1-7 ◽  
Author(s):  
Wang Yan-feng ◽  
Wang Pei-liang ◽  
Li Zu-xin ◽  
Chen Hui-ying
Keyword(s):  
Control Systems ◽  
Closed Loop ◽  
Networked Control Systems ◽  
Fault Tolerant ◽  
Transition Probabilities ◽  
Sufficient Conditions ◽  
Loop System ◽  
Networked Control ◽  
Actuator Fault ◽  
Closed Loop System

This paper is concerned with the problem of designing a fault-tolerant controller for uncertain discrete-time networked control systems against actuator possible fault. The step difference between the running stepkand the time stamp of the used plant state is modeled as a finite state Markov chain of which the transition probabilities matrix information is limited. By introducing actuator fault indicator matrix, the closed-loop system model is obtained by means of state augmentation technique. The sufficient conditions on the stochastic stability of the closed-loop system are given and the fault-tolerant controller is designed by solving a linear matrix inequality. A numerical example is presented to illustrate the effectiveness of the proposed method.

Fault tolerant heading control system design for Turac unmanned aerial vehicle

2016 ◽  
Vol 39 (3) ◽  
pp. 267-276 ◽  
Author(s):  
Burak Yuksek ◽  
N Kemal Ure ◽  
Fikret Caliskan ◽  
Gokhan Inalhan
Keyword(s):  
Kalman Filter ◽  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Closed Loop ◽  
Fault Tolerant ◽  
Fault Isolation ◽  
Loop System ◽  
Closed Loop System ◽  
Heading Control ◽  
Aerial Vehicle

In this study, a fault tolerant heading control system is designed for a one-third scale fixed wing vertical takeoff-and-landing unmanned aerial vehicle, Turac. A nonlinear six degrees-of-freedom (DoF) mathematical model is obtained and linearized at the calculated trim flight condition. A proportional heading control system is designed as a nominal horizontal flight controller. Detection and isolation of the faults that can occur during flight are performed by Kalman filters which are designed individually for each sensor output. After the fault isolation process the obtained fault data is fed to the reconfigurable Kalman filter. Then the feedback signal from the faulty sensor is blocked and the estimated output from the reconfigurable Kalman filter is fed to the control system. So, the closed-loop system could follow the reference signal without updating the controller’s parameters. Simulation studies are performed on the closed-loop system for faulty sensor situations.

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