Reliable attitude stability control of quad-rotor based on fault-tolerant approach

2012 ◽  
Author(s):  
Xun Gong ◽  
Cheng Peng ◽  
Yan Tao Tian ◽  
Yue Bai ◽  
Changjun Zhao ◽  
...  
Keyword(s):  
Fault Tolerant ◽  
Stability Control ◽  
Attitude Stability

A Study on Zero Assignment by Fault Tolerant Stability Control

2016 ◽  
Vol 136 (2) ◽  
pp. 143-156 ◽  
Author(s):  
Katsuhiko Fuwa ◽  
Tatsuo Narikiyo ◽  
Tatsushi Ooba
Keyword(s):  
Fault Tolerant ◽  
Stability Control

scholarly journals Actuator fault-based integrated control for vehicle chassis system

2020 ◽  
pp. 002029402097757
Author(s):  
Jinwei Sun ◽  
Jingyu Cong ◽  
Weihua Zhao ◽  
Yonghui Zhang
Keyword(s):  
Performance Enhancement ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Integrated Control ◽  
Stability Control ◽  
Actuator Fault ◽  
Roll Moment ◽  
Fault Reconstruction ◽  
Driving Conditions ◽  
Vehicle Chassis

An integrated fault tolerant controller is proposed for vehicle chassis system. Based on the coupled characteristics of vertical and lateral system, the fault tolerant controller mainly concentrates on the cooperative control of controllable suspension and lateral system with external disturbances and actuator faults. A nine-DOF coupled model is developed for fault reconstruction and accurate control. Firstly, a fault reconstruction mechanism based on sliding mode is introduced; when the sliding mode achieves, actuator fault signals can be observed exactly through selecting appropriate gain matrix and equivalent output injection term. Secondly, an active suspension controller, a roll moment controller and a stability controller is developed respectively; the integrated control strategy is applied to the system under different driving conditions: when the car is traveling straightly, the main purpose of the integrated strategy is to improve the vertical performance; the lateral controller including roll moment control and stability control will be triggered when there is a steering angle input. Simulations experiments verify the performance enhancement and stability of the proposed controller under three different driving conditions.

scholarly journals A Fault Tolerant Vehicle Stability Control Using Adaptive Control Allocation

2018 ◽  
Author(s):  
Ozan Temiz ◽  
Melih Cakmakci ◽  
Yildiray Yildiz
Keyword(s):  
Adaptive Control ◽  
Fault Tolerant ◽  
Stability Control ◽  
Steering Wheel ◽  
Slip Angle ◽  
Control Allocation ◽  
Control Input ◽  
Allocation Strategy ◽  
Virtual Control ◽  
Yaw Stability

This paper presents an integrated fault-tolerant adaptive control allocation strategy for four wheel frive - four wheel steering ground vehicles to increase yaw stability. Conventionally, control of brakes, motors and steering angles are handled separately. In this study, these actuators are controlled simultaneously using an adaptive control allocation strategy. The overall structure consists of two steps: At the first level, virtual control input consisting of the desired traction force, the desired moment correction and the required lateral force correction to maintain driver’s intention are calculated based on the driver’s steering and throttle input and vehicle’s side slip angle. Then, the allocation module determines the traction forces at each wheel, front steering angle correction and rear steering wheel angle, based on the virtual control input. Proposed strategy is validated using a non-linear three degree of freedom reduced two-track vehicle model and results demonstrate that the vehicle can successfully follow the reference motion while protecting yaw stability, even in the cases of device failure and changed road conditions.

scholarly journals A Neural Network Adaptive Fault-Tolerant Control Method for Launch Vehicles with the Limited Faults

2020 ◽  
Vol 38 (3) ◽  
pp. 668-676
Author(s):  
Haiyang Zhu ◽  
Yansheng Wu ◽  
Yi Rong ◽  
Xudong Qin ◽  
Yu Chen
Keyword(s):  
Neural Network ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Pole Placement ◽  
Launch Vehicles ◽  
Attitude Stability ◽  
Fault Parameters ◽  
Uncertain Disturbances

To tolerate the limited faults such as thrust decline or actuator jamming of launch vehicles, an adaptive fault-tolerant control method based on radial basis function neural network (RBFNN) is proposed in this paper. The method is based on a limited faults dynamics model, and the baseline controller is designed based on the pole placement, using RBFNN to online identify and compensate the fault parameters and uncertain disturbances in the model. Then an adaptive fault-tolerant control law is designed based on Lyapunov theory. The simulation results show that the proposed adaptive control method can effectively ensure the attitude stability as well as control accuracy under the limited faults of launch vehicles, compared with the traditional PD control method.

Double-boundary interval fault-tolerant control for a multi-vector propulsion ROV with thruster failure

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Liqin Zhou ◽  
Changbin Wang ◽  
Lin Li ◽  
Chengxi Zhang ◽  
Dalei Song ◽  
...  
Keyword(s):  
Fault Tolerant ◽  
Load Capacity ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Content Type ◽  
Attitude Stability ◽  
Control Scheme ◽  
Yaw Attitude ◽  
The Stability ◽  
Real Time Information

Purpose A novel fault-tolerant control (FTC) method is proposed to assure the stability of the remote-operated vehicle (ROV) by considering the thruster failure-induced model perturbations. The stability of the ROV with failures is guaranteed and optimized with the determined model perturbation set. The effectiveness of the double-boundary interval fault-tolerant control (DBIFTC) is verified through the experiments and proves that the stability is well maintained, which demonstrates a decent performance. Design/methodology/approach This paper studies a control problem for a multi-vector propulsion ROV by using the DBIFTC method in the presence of thruster failure and external disturbances. The ROV kinematics and dynamical models with multi-vector-arranged thruster failure are investigated and formulated for control system design. Findings In this paper, the authors address the FTC problem of ROV with multi-vector thrusters and propose a DBIFTC scheme. The advantage is that as the kinematic system model of ROV is preanalyzed and identified, the DBIFTC becomes more effective. The mathematical stability of the system under the proposed control scheme can be guaranteed. Research limitations/implications The ROV model used in this paper is based on the system identification of experimental data. Although this model has real experimental value and physical significance, the accuracy can be further improved. Practical implications Cable-controlled underwater ROVs are widely used in military missions and scientific research because of their flexibility, sufficient load capacity and real-time information transmission characteristics. The DBIFTC method proposed in this paper can effectively reduce the problem of underwater vehicle under propeller failure or external disturbance and save unnecessary cost. Social implications The DBIFTC method proposed in this paper can ensure the attitude stability of ROV or other underwater equipment operating in the event of propeller failure or external disturbance. In this way, the robot can better perform undersea work and tasks. Originality/value The kinematics and failure mechanisms of the ROV with multi-vector propulsion system are investigated and established. An optimized DBIFTC scheme is investigated to stabilize ROV yaw attitude under the thruster failure condition. The feasibility and effectiveness of the DBIFTC is experimentally validated.

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