Robust Fault Tolerant Control for Spacecraft Attitude Stabilization Under Actuator Faults and Bounded Disturbance

2011 ◽  
Vol 133 (5) ◽  
Author(s):  
Bing Xiao ◽  
Qinglei Hu ◽  
Michael I. Friswell
Keyword(s):  
Closed Loop ◽  
Fault Tolerant ◽  
Fault Detection And Isolation ◽  
Spacecraft Attitude ◽  
Actuator Faults ◽  
Closed Loop System ◽  
External Disturbances ◽  
Attitude Stabilization ◽  
Bounded Disturbance ◽  
Loss Of Actuator Effectiveness

This paper investigates the design of spacecraft attitude stabilization controllers that are robust against actuator faults and external disturbances. A nominal controller is developed initially, using the adaptive backstepping technique, to stabilize asymptotically the spacecraft attitude when the actuators are fault-free. Additive faults and the partial loss of actuator effectiveness are considered simultaneously and an auxiliary controller is designed in addition to the nominal controller to compensate for the system faults. This auxiliary controller does not use any fault detection and isolation mechanism to detect, separate, and identify the actuator faults online. The attitude orientation and angular velocity of the closed-loop system asymptotically converge to zero despite actuator faults providing the nominal attitude system is asymptotically stable. Numerical simulation results are presented that demonstrate the closed-loop performance benefits of the proposed control law and illustrate its robustness to external disturbances and actuator faults.

Adaptive neural fault-tolerant control for course tracking of unmanned surface vehicle with event-triggered input

2021 ◽  
pp. 095965182110131
Author(s):  
Guoqing Zhang ◽  
Shen Gao ◽  
Jiqiang Li ◽  
Weidong Zhang
Keyword(s):  
Neural Control ◽  
Fault Tolerant ◽  
Lyapunov Stability Theory ◽  
Actuator Faults ◽  
Closed Loop System ◽  
External Disturbances ◽  
Unmanned Surface Vehicle ◽  
Adaptive Parameters ◽  
Control Gain ◽  
Event Triggered

This study investigates the course-tracking problem for the unmanned surface vehicle in the presence of constraints of the actuator faults, control gain uncertainties, and environmental disturbance. A novel event-triggered robust neural control algorithm is proposed by fusing the robust neural damping technique and the event-triggered input mechanism. In the algorithm, no prior information of the system model about the unknown yawing dynamic parameters and unknown external disturbances is required. The transmission burden between the controller and the actuator could be relieved. Moreover, the control gain-related uncertainties and the unknown actuator faults are compensated through two updated online adaptive parameters. Sufficient effort has been made to verify the semi-global uniform ultimate bounded stability for the closed-loop system based on Lyapunov stability theory. Finally, simulation results are presented to illustrate the effectiveness and superiority of the proposed algorithm.

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.

Robust fault-tolerant control design for hypersonic vehicle with input saturation and actuator faults

2021 ◽  
pp. 095441002110412
Author(s):  
Zhong-Zhe Yue ◽  
Jing-Guang Sun
Keyword(s):  
Feedback Linearization ◽  
Fault Tolerant ◽  
Input Saturation ◽  
Lyapunov Stability Theory ◽  
Hypersonic Vehicle ◽  
Actuator Faults ◽  
Closed Loop System ◽  
External Disturbances ◽  
Longitudinal Tracking ◽  
Tangent Function

This study investigates the flight longitudinal tracking control problem of hypersonic vehicle in presence of the input saturation, external disturbances, model parametric uncertainties, and actuator faults. First, the velocity and altitude subsystem are established with disturbances based on the feedback linearization model. Second, two robust anti-saturation fault-tolerant controllers are designed for the velocity subsystem and altitude subsystem by the utilization of the tangent function, Nussbaum function, and adaptive nonlinear filter. Finally, Lyapunov stability theory is used to prove that the states of the closed-loop system are bounded. And, the effectiveness and robustness of the control strategy are proved by numerical simulations.

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.

Event-triggered asynchronous H∞ fault-tolerant control for discrete-time Markov jump system with actuator faults

2020 ◽  
pp. 095965182096573
Author(s):  
Ai-Min Wang ◽  
Jian-Ning Li
Keyword(s):  
Markov Models ◽  
Fault Tolerant ◽  
Actuator Faults ◽  
Closed Loop System ◽  
Network Resources ◽  
Markov Jump ◽  
External Disturbances ◽  
Controlled System ◽  
Markov Jump System ◽  
Event Triggered

This article focuses on the design of event-triggered asynchronous [Formula: see text] fault-tolerant controller for Markov jump system subject to actuator faults and external disturbances. The asynchronization phenomenon not only occurs between the controlled system and controller but also exists between the controlled system and faulty actuator, which are portrayed as two corresponding hidden Markov models. Moreover, a mode-dependent event-triggered mechanism is introduced to facilitate network resources utilization. Then, by introducing mode-dependent Lyapunov-Krasovskii functional, a sufficient condition is obtained to guarantee that the closed-loop system is randomly mean square stable with [Formula: see text] performance. Finally, two numerical examples are employed to illustrate the effectiveness of the proposed synthesis scheme.

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.

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