Tracking Fault Tolerant Control for Hybrid System: Two-Link Human Arm Application

2019 ◽  
Vol 141 (5) ◽  
Author(s):  
Labidi Islem ◽  
Zanzouri Nadia ◽  
Takrouni Asma
Keyword(s):  
State Feedback ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Estimation Algorithm ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Proportional Integral Derivative ◽  
Human Arm ◽  
Proportional Integral Derivative Control

This paper proposes a novel fault tolerant control (FTC) scheme for a class of hybrid dynamical system (HDS) subject to sensor faults. The corresponding FTC architecture is designed around a reconfiguration mechanism. It aims to compensate the effects of the sensors degradation and maintain satisfactory performances including continuous stability. Moreover, by using the linear matrix inequalities (LMI) approach, a fault estimation algorithm is fulfilled and the compromise between robustness to disturbances and sensitivity to fault is guaranteed. For the sake of trajectory tracking, a combined robust state feedback and proportional-integral-derivative control system is proposed herein. Finally, extensive simulation results conducted on two-link arm system are included to illustrate the efficiency of the designed FTC scheme.

scholarly journals Adaptive Observer-Based Fault-Tolerant Control Design for Uncertain Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-16 ◽  
Author(s):  
Huaming Qian ◽  
Yu Peng ◽  
Mei Cui
Keyword(s):  
Fault Tolerant ◽  
Linear Time ◽  
Fault Tolerant Control ◽  
Estimation Algorithm ◽  
Adaptive Observer ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Linear Time Invariant ◽  
And Performance ◽  
Aircraft Application

This study focuses on the design of the robust fault-tolerant control (FTC) system based on adaptive observer for uncertain linear time invariant (LTI) systems. In order to improve robustness, rapidity, and accuracy of traditional fault estimation algorithm, an adaptive fault estimation algorithm (AFEA) using an augmented observer is presented. By utilizing a new fault estimator model, an improved AFEA based on linear matrix inequality (LMI) technique is proposed to increase the performance. Furthermore, an observer-based state feedback fault-tolerant control strategy is designed, which guarantees the stability and performance of the faulty system. Moreover, the adaptive observer and the fault-tolerant controller are designed separately, whose performance can be considered, respectively. Finally, simulation results of an aircraft application are presented to illustrate the effectiveness of the proposed design methods.

scholarly journals Optimal Fault Tolerant Control of Large-Scale Wind Turbines in the Case of the Pitch Actuator Partial Faults

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-17 ◽  
Author(s):  
Younes Ait El Maati ◽  
Lhoussain El Bahir
Keyword(s):  
Response Time ◽  
Wind Turbines ◽  
Large Scale ◽  
Fault Tolerant ◽  
Tracking Error ◽  
Fault Tolerant Control ◽  
Estimation Algorithm ◽  
Design Parameters ◽  
Fault Estimation ◽  
Linear Matrix

In this paper, an adaptive fault tolerant control strategy is proposed to deal with the three pitch actuator faults in the large-scale wind turbines. Firstly, a simultaneous state and fault estimation was performed through a suitable LMI (linear matrix inequality) based optimal strategy. Hereafter, the new control law is designed using the previously estimated fault information. The actuator efficiency estimator uses as design parameters, respectively, the performance index γ against the wind and the learning rate Ξ. of the fault estimation algorithm. The study shows that the choice of the previous two parameters impacts the response time of the fault estimation and the correlation of the tracking error with the wind. The aim is to choose a small fault estimation response time while keeping a weak correlation between the tracking error and the wind turbulence noise. Finally, a tuning strategy is elaborated to choose the suitable γ and Ξ to match the reconfiguration objective.

scholarly journals Robust Fault Estimation and Fault-Tolerant Control Based on Sliding Mode Observer for Takagi–Sugeno Fuzzy Systems Subject to Actuator and Sensor Faults

2020 ◽  
Vol 9 (8) ◽  
pp. 145-154
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Fault Tolerant Control ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Observer ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Takagi Sugeno

In this paper, the problems of fault estimation and fault-tolerant control for Takagi-Sugeno fuzzy system affected by simultaneous actuator faults, sensor faults and external disturbances are investigated. Firstly, an adaptive fuzzy sliding-mode observer is designed to simultaneously estimate system states and both actuator and sensor faults. Then, based on the online estimation information, a static output feedback fault-tolerant controller is designed to compensate for the effect of faults and to stabilize the closed-loop system. Moreover, sufficient conditions for the existence of the proposed observer and controller with an H∞ performance are derived based on Lyapunov stability theory and expressed in terms of linear matrix inequalities. Finally, a nonlinear inverted pendulum with cart system application is given illustrate the validity of the proposed method.

scholarly journals Sensor Fault-Tolerant Control Design for Mini Motion Package Electro-Hydraulic Actuator

Processes ◽  
2019 ◽  
Vol 7 (2) ◽  
pp. 89 ◽  
Author(s):  
Tan Van Nguyen ◽  
Cheolkeun Ha
Keyword(s):  
Tracking Control ◽  
Position Control ◽  
Fault Tolerant ◽  
Human Life ◽  
Rapid Development ◽  
Fault Tolerant Control ◽  
Superior Performance ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Sensor Fault

With the rapid development of computer science and information and communication technology (ICT), increasingly intelligent, and complex systems have been applied to industries as well as human life. Fault-tolerant control (FTC) has, therefore, become one of the most important topics attracting attention from both engineers and researchers to maintain system performances when faults occur. The ultimate goal of this study was to develop a sensor fault-tolerant control (SFTC) to enhance the robust position tracking control of a class of electro-hydraulic actuators called mini motion packages (MMPs), which are widely used for applications requiring large force-displacement ratios. First, a mathematical model of the MMP system is presented, which is then applied in the position control process of the MMP system. Here, a well-known proportional, integrated and derivative (PID) control algorithm is employed to ensure the positional response to the reference position. Second, an unknown input observer (UIO) is designed to estimate the state vector and sensor faults using a linear matrix inequality (LMI) optimization algorithm. Then an SFTC is used to deal with sensor faults of the MMP system. The SFTC is formed of the fault detection and the fault compensation with the goal of determining the location, time of occurrence, and magnitude of the faults in the fault signal compensation process. Finally, numerical simulations were run to demonstrate the superior performance of the proposed approach compared to traditional tracking control.

scholarly journals Experimental Study of Sensor Fault-Tolerant Control for an Electro-Hydraulic Actuator Based on a Robust Nonlinear Observer

Energies ◽  
2019 ◽  
Vol 12 (22) ◽  
pp. 4337 ◽  
Author(s):  
Tan Van Nguyen ◽  
Cheolkeun Ha
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Nonlinear Observer ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Hydraulic Actuator ◽  
Discrete Time System ◽  
Lmi Optimization ◽  
Fault Compensation ◽  
The Difference

Electro-hydraulic actuators (EHAs) have been widely used in modern industries. However, sensor faults and actuator faults in EHA systems can arise due to aging during operation, making the system unstable and unsafe. To solve these issues, fault-tolerant control (FTC) techniques for EHA systems have been studied intensively. In this paper, an FTC is proposed and developed for the mini motion package (MMP) EHA system. First, a mathematical model of the MMP system is formulated and improved to provide position tracking control using a well-known proportional-integral-derivative (PID) controller. Second, an unknown input observer (UIO) reconstruction is performed to estimate the states, disturbances, and sensor faults so that an asymptotically stable control error can be obtained by a linear matrix inequality (LMI) optimization algorithm through Lyapunov’s stability condition. Third, the FTC designed for the nonlinear discrete-time system is formed from fault compensation based on a residual logic signal to implement the fault compensation process and ensure stability and tracking performance with respect to minimizing impacts of disturbances and sensor faults. Here, residual is defined by the difference between state response and state estimation. Finally, numerical simulations and experiments of the MMP system are presented to illustrate the efficiency of the proposed FTC technique.

scholarly journals Active Fault-Tolerant Control for Wind Turbine with Simultaneous Actuator and Sensor Faults

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Lei Wang ◽  
Ming Cai ◽  
Hu Zhang ◽  
Fuad Alsaadi ◽  
Liu Chen
Keyword(s):  
Wind Turbine ◽  
State Vector ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Design Method ◽  
Fault Tolerant Control ◽  
Descriptor System ◽  
Fault Estimation ◽  
Sensor Faults ◽  
Set Up

The purpose of this paper is to show a novel fault-tolerant tracking control (FTC) strategy with robust fault estimation and compensating for simultaneous actuator sensor faults. Based on the framework of fault-tolerant control, developing an FTC design method for wind turbines is a challenge and, thus, they can tolerate simultaneous pitch actuator and pitch sensor faults having bounded first time derivatives. The paper’s key contribution is proposing a descriptor sliding mode method, in which for establishing a novel augmented descriptor system, with which we can estimate the state of system and reconstruct fault by designing descriptor sliding mode observer, the paper introduces an auxiliary descriptor state vector composed by a system state vector, actuator fault vector, and sensor fault vector. By the optimized method of LMI, the conditions for stability that estimated error dynamics are set up to promote the determination of the parameters designed. With this estimation, and designing a fault-tolerant controller, the system’s stability can be maintained. The effectiveness of the design strategy is verified by implementing the controller in the National Renewable Energy Laboratory’s 5-MW nonlinear, high-fidelity wind turbine model (FAST) and simulating it in MATLAB/Simulink.

Fault-Tolerant Control against Actuator Failures for a Class of Uncertain Singular Systems

2014 ◽  
Vol 539 ◽  
pp. 601-605 ◽  
Author(s):  
Guo Rong Wang ◽  
Juan Lei
Keyword(s):  
State Feedback ◽  
Fault Tolerant ◽  
Singular Systems ◽  
Singular System ◽  
Fault Tolerant Control ◽  
The State ◽  
Linear Matrix ◽  
Asymptotically Stable ◽  
Actuator Failures ◽  
Uncertain Singular Systems

In this paper, the fault-tolerant control problem for uncertain singular systems is discussed when actuator is normal and failure. First, using linear matrix inequalities (LMI), the state feedback is designed so that the singular system is asymptotically stable when the actuators work well. Then, the state feedback is designed so that the closed-loop singular system is asymptotically stable when the part actuators occur failure. Finally, the use of LMI method , the fault-tolerant state feedback controllers with integrity are presented for uncertain singular systems.

scholarly journals Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of Forklift

2021 ◽  
Vol 11 (16) ◽  
pp. 7236
Author(s):  
Xiangxiang Su ◽  
Benxian Xiao
Keyword(s):  
Electric Power ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Actuator Faults ◽  
Electric Power Steering ◽  
Power Steering ◽  
System States

For the problem of actuator-integrated fault estimation (FE) and fault tolerant control (FTC) for the electric power steering (EPS) system of a forklift, firstly, a dynamic model of a forklift EPS system with actuator faults was established; then, an integrated FE and FTC design was proposed. The nonlinear unknown input observer (NUIO) was proposed to estimate the system states and actuator faults, and an adaptive sliding mode FTC system was constructed based on it. The gain of the observer and controller is obtained by H∞ optimization and one-step linear matrix inequality (LMI) formula operation in order to realize the overall optimal design of an FTC system. Finally, the experimental results show that when actuator failure occurs, the proposed integrated FE and FTC were more accurate than the decentralized design to estimate the system states and the actuator faults. The proposed fault-tolerant controller can more effectively restore the power assist performance of the steering power motor in case of failure and effectively ensure the safety and reliability of the forklift EPS system.

scholarly journals Sensor Fault Tolerant Control for Aircraft Engines Using Sliding Mode Observer

Energies ◽  
2019 ◽  
Vol 12 (21) ◽  
pp. 4109
Author(s):  
Xiaodong Chang ◽  
Jinquan Huang ◽  
Feng Lu
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Sliding Mode Observer ◽  
Dynamic Responses ◽  
Fault Estimation ◽  
Aircraft Engines ◽  
Sensor Faults ◽  
Classical State ◽  
System States

This paper investigated the problem of fault estimation and fault-tolerant control (FTC) against sensor faults for aircraft engines. By applying a second order sliding mode observer (SOSMO) to the engine on-board model, estimations of the system states and sensor faults could be obtained simultaneously, and the result of state estimation was unaffected when using the reduced-order sliding mode system. This result gave rise to the idea to use the estimated states instead of physical sensor signal in the engine close-loop feedback control. Unlike those using passive FTC concepts, the tradeoff between control performance and robustness was inherently unnecessary. Meanwhile, compared to active FTC approaches, because any classical state/output feedback method can be directly applied to the proposed scheme without any controller reconfiguration, extra undesired dynamic responses caused by parameter reconfiguring were avoided. In this paper, the proposed FTC scheme was tested on the nonlinear model of a civil aircraft turbofan engine, and numerical simulation results showed satisfactory sensor FTC performance.

Fault-tolerant control for vehicle with vertical and lateral dynamics

2018 ◽  
Vol 233 (12) ◽  
pp. 3165-3184 ◽  
Author(s):  
Jinwei Sun ◽  
JingYu Cong ◽  
Liang Gu ◽  
Mingming Dong
Keyword(s):  
Active Fault ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Gain Scheduling ◽  
Integrated Model ◽  
Integrated System ◽  
Fault Estimation ◽  
Sensor Faults ◽  
Sensor Fault ◽  
Lateral Dynamics

As the possibility of sensor faults in the vehicle chassis system is higher and influences the vehicle stability, this paper deals with active fault-tolerant control for vehicle with vertical and lateral dynamics. It focuses on the combined control of active suspension system and electronic stability control with sensor faults based on the interaction between vehicle with vertical and lateral dynamics. A 9-degree-of-freedom vehicle integrated model is adopted for accurate control. The aim of the controller is to improve riding comfort when the vehicle is driving straight and improve lateral stability when the vehicle is steering in the presence of external disturbances and sensor faults. First, an H∞-based method is introduced to reconstruct the sensor fault signals, and meanwhile, the method can also observe the unmeasured signals. Based on the reconstruction faults and observed signals, a gain scheduling controller is utilized to guarantee the performance of the integrated model under different driving conditions, and the steering input is chosen as the scheduling parameter. Three different conditions, step steering input, single lane change input, and sensor faults, are considered. The main contributions of this study are as follows: (1) an H∞-based observer was designed for sensor fault estimation of the vertical and lateral integrated model and (2) a gain scheduling controller was designed to improve the performance of the integrated system. Simulations results indicated that the active fault-tolerant controller can reconstruct sensor faults and observe the unmeasured states exactly, and the linear parameter varying framework–based gain scheduling controller ensures the system performance adaptively.

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