The Fault-Tolerant Control of Magnetic Bearings With Reduced Controller Outputs

2000 ◽  
Vol 123 (2) ◽  
pp. 219-224 ◽  
Author(s):  
Uhn Joo Na ◽  
Alan Palazzolo
Keyword(s):  
Current Distribution ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Industrial Applications ◽  
Magnetic Bearings ◽  
Necessary Condition ◽  
Control Scheme

The fault-tolerant control scheme utilizes grouping of currents to reduce the required number of controller outputs. Reduced current distribution matrices can be calculated with the constraint conditions of the controller outputs and the necessary condition for linearization. Decoupling chokes are not required for the control scheme with grouped currents since fluxes are isolated in C-cores. By reducing controller outputs and removing decoupling chokes the fault-tolerant control scheme is more efficient and practical in terms of industrial applications.

A fault-tolerant control scheme within adaptive disturbance observer for hypersonic vehicle

2017 ◽  
Vol 233 (3) ◽  
pp. 1071-1088 ◽  
Author(s):  
Jun Zhou ◽  
Jing Chang ◽  
Zongyi Guo
Keyword(s):  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Performance Guarantees ◽  
Uncertain Model ◽  
Control Scheme ◽  
And Performance

The paper describes the design of a fault-tolerant control scheme for an uncertain model of a hypersonic reentry vehicle subject to actuator faults. In order to improve superior transient performances for state tracking, the proposed method relies on a back-stepping sliding mode controller combined with an adaptive disturbance observer and a reference vector generator. This structure allows for a faster response and reduces the overshoots compared to linear conventional disturbance observers based sliding mode controller. Robust stability and performance guarantees of the overall closed-loop system are obtained using Lyapunov theory. Finally, numerical simulations results illustrate the effectiveness of the proposed technique.

scholarly journals Fault Tolerant Control Design For Polytopic LPV Systems

2007 ◽  
Vol 17 (1) ◽  
pp. 27-37 ◽  
Author(s):  
Mickael Rodrigues ◽  
Didier Theilliol ◽  
Samir Aberkane ◽  
Dominique Sauter
Keyword(s):  
Output Feedback ◽  
Fault Tolerant ◽  
Output Feedback Control ◽  
Control Design ◽  
Fault Tolerant Control ◽  
Necessary Condition ◽  
Linear Matrix ◽  
Linear Parameter Varying ◽  
Lpv Systems ◽  
Static Output

Fault Tolerant Control Design For Polytopic LPV SystemsThis paper deals with a Fault Tolerant Control (FTC) strategy for polytopic Linear Parameter Varying (LPV) systems. The main contribution consists in the design of a Static Output Feedback (SOF) dedicated to such systems in the presence of multiple actuator faults/failures. The controllers are synthesized through Linear Matrix Inequalities (LMIs) in both fault-free and faulty cases in order to preserve the system closed-loop stability. Hence, this paper provides a new sufficient (but not necessary) condition for the solvability of the stabilizing output feedback control problem. An example illustrates the effectiveness and performances of the proposed FTC method.

Fault tolerant control based on backstepping nonsingular terminal integral sliding mode and impedance control for a lower limb exoskeleton

2021 ◽  
pp. 095440622110357
Author(s):  
Majied Mokhtari ◽  
Mostafa Taghizadeh ◽  
Pegah Ghaf Ghanbari
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Impedance Control ◽  
Fault Tolerant Control ◽  
Integral Type ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Control Scheme

In this paper, an active fault-tolerant control scheme is proposed for a lower limb exoskeleton, based on hybrid backstepping nonsingular fast terminal integral type sliding mode control and impedance control. To increase the robustness of the sliding mode controller and to eliminate the chattering, a nonsingular fast terminal integral type sliding surface is used, which ensures finite time convergence and high tracking accuracy. The backstepping term of this controller guarantees global stability based on Lyapunov stability criterion, and the impedance control reduces the interaction forces between the user and the robot. This controller employs a third order super twisting sliding mode observer for detecting, isolating ad estimating sensor and actuator faults. Motion stability based on zero moment point criterion is achieved by trajectory planning of waist joint. Furthermore, the highest level of stability, minimum error in tracking the desired joint trajectories, minimum interaction force between the user and the robot, and maximum system capability to handle the effect of faults are realized by optimizing the parameters of the desired trajectories, the controller and the observer, using harmony search algorithm. Simulation results for the proposed controller are compared with the results obtained from adaptive nonsingular fast terminal integral type sliding mode control, as well as conventional sliding mode control, which confirm the outperformance of the proposed control scheme.

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