FAULT TOLERANT CONTROL FOR SENSOR FAULT OF A SINGLE-LINK FLEXIBLE MANIPULATOR SYSTEM

This paper presents a new approach for sensor fault tolerant control (FTC) of a single-link flexible manipulator system (FMS) by using Finite Element Method (FEM). In this FTC scheme, a new control law is proposed where it is added to the nominal control. This research focuses on one element without any payload assumption in the modelling. The FTC method is designed in such way that aims to reduce fault while maintaining nominal FMS controller without any changes in both faulty and fault free cases. This proposed FTC approach is achieved by augmenting Luenberger observer that is capable of estimating faults in fault detection and isolation (FDI) analysis. From the information provided by the FDI, fault magnitude is assessed by using Singular Value Decomposition (SVD) where this information is used in the fault compensation strategy. For the nominal FMS controller, Proportional- integral- derivative (PID) controller is used to control the FMS where it follows the desired hub angle. This work proved that the FTC approach is capable of reducing fault with both incipient and abrupt signals and in two types of faulty conditions where the sensor is having loss of effectiveness and totally malfunction. All the performances are compared with FTC with Unknown Input Observer (FTC-UIO) method via the integral of the absolute magnitude of error (IAE) method.

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Fault Tolerant Control of EPS System with Sensor Fault

Journal of Circuits System and Computers ◽

10.1142/s0218126619501160 ◽

2019 ◽

Vol 28 (07) ◽

pp. 1950116

Author(s):

Manel Allous ◽

Kais Mrabet ◽

Nadia Zanzouri

Keyword(s):

Control Strategy ◽

System Performance ◽

Fault Tolerant ◽

Fault Tolerant Control ◽

Torque Sensor ◽

Sensor Fault ◽

Electric Power Steering ◽

Luenberger Observer ◽

Power Steering ◽

Torsion Bar

Taking into account the sensors faults, modeling of electric power steering (EPS) behavior improves steering reliability. Such task becomes difficult considering the nonlinearity of EPS systems. Therefore, in order to ensure the good behavior stability of the EPS, it is important to validate such established models on a real system. Hence, a fault tolerant control (FTC) design is herein proposed by considering an occurring fault at the torsion bar. A Luenberger observer is used to estimate the torque sensor fault. The FTC is performed to compensate this sensor fault by using the inverse bond graph (BG) modeling. Our simulations reveal the importance of proposed control strategy to improve the EPS system performance but also to reduce the system complexity.

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Neural-network-based adaptive fault-tolerant vibration control of single-link flexible manipulator

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331219874157 ◽

2019 ◽

Vol 42 (3) ◽

pp. 430-438 ◽

Cited By ~ 2

Author(s):

Le Li ◽

Jinkun Liu

Keyword(s):

Neural Network ◽

Dynamic Model ◽

Fault Tolerant ◽

Rbf Neural Network ◽

Direct Method ◽

Fault Tolerant Control ◽

Flexible Manipulator ◽

Actuator Failure ◽

Single Link ◽

Boundary Disturbance

This paper proposes an adaptive fault-tolerant control scheme for a single-link flexible manipulator with actuator failure and uncertain boundary disturbance. The dynamic model of the flexible manipulator as-described by partial differential equations (PDEs) is derived under Hamilton’s principle. The dynamic model is then used to design an adaptive fault-tolerant control (FTC) scheme which tracks the given angle and regulates vibration in the case of actuator failure. The boundary disturbance is compensated by a radial basis function (RBF) neural network. The whole closed-loop system is proven asymptotically stable by Lyapunov direct method and LaSalle’s invariance principle. Simulation results indicate that the proposed controller is superior to the traditional PD controller.

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Adaptive PID actuator fault tolerant control of single-link flexible manipulator

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331218776720 ◽

2018 ◽

Vol 41 (4) ◽

pp. 1019-1031 ◽

Cited By ~ 5

Author(s):

Siti Fadilah Abd Latip ◽

Abdul Rashid Husain ◽

Zaharuddin Mohamed ◽

Mohd Ariffanan Mohd Basri

Keyword(s):

Pid Controller ◽

Fault Tolerant ◽

Angular Position ◽

Fault Tolerant Control ◽

Flexible Manipulator ◽

Actuator Fault ◽

Fault Reconstruction ◽

Offline Learning ◽

Single Link ◽

The Stability

Actuator faults may cause performance degradation of a system and may sometimes even lead to instability. This paper deals with the fault tolerant control problem of a single-link flexible manipulator under a loss of actuator effectiveness. The proposed control scheme uses an adaptive proportional–integral–derivative (APID) controller, which may automatically online tune the three control gains, kp, ki, and kd. The adaptation laws of the APID controller are derived in the sense of the Lyapunov function, so that the stability of the closed-loop system may be guaranteed. The main advantage of the proposed methodology is that no prior offline learning or manual retuning of the PID controller is required to accommodate the actuator fault. In addition, the proposed APID controller does not require any knowledge of the fault magnitude in advance. The effectiveness and feasibility of the proposed approach is tested for the hub angular position and tracking control of a single-link flexible manipulator under both faulty and fault-free conditions. The results demonstrate that the approach is valid, leading to an accurate fault reconstruction, a better transient and good tracking performance, and significantly improved upon previous approaches in terms of errors with respect to the corresponding traditional fixed-gain PID controller.

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A Review on Fault-Tolerant Control for Single-Link Flexible Manipulator System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.229-231.2389 ◽

2012 ◽

Vol 229-231 ◽

pp. 2389-2393

Author(s):

Siti Fadilah Abd Latip ◽

Abdul Rashid Husain ◽

Amira Sarayati ◽

Shahrul Hamzah Abdul Razak

Keyword(s):

Literature Review ◽

Historical Development ◽

Fault Tolerant ◽

Research Effort ◽

Fault Tolerant Control ◽

Flexible Manipulator ◽

Single Link ◽

The Subject ◽

New Research ◽

Tolerance Control

In this paper, a review of the historical development of fault- tolerant control, some proposals for the terminology in the field of supervision, fault detection and tolerance control are presented. The directions in which the subject is going are summarised and some pointers are given as to the likely issues and where new research effort is required. The paper provides a basic literature review covering most areas of fault-tolerant control of single-link flexible manipulator system.

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