Friction Fault Detection of an Electrohydrostatic Actuator

2011 ◽  
Author(s):  
S. A. Gadsden ◽  
Y. Song ◽  
K. R. McCullough ◽  
S. R. Habibi
Keyword(s):  
Fault Detection ◽  
Detection Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Estimation Strategy ◽  
Operating Modes ◽  
Smooth Variable Structure Filter ◽  
Novel Model

This article discusses the application of a novel model-based fault detection method. The method is based on the interacting multiple model (IMM) strategy, which makes use of a finite number of known operating modes. A filter is used in conjunction with the IMM in order to estimate the states and parameters of the system. The smooth variable structure filter (SVSF) is a relatively new estimation strategy, and is based on sliding mode concepts which introduces an inherent amount of robustness and stability. The combined SVSF-IMM strategy is applied on an electrohydrostatic actuator (EHA), which is a device used in the aerospace industry. Two different operating modes were created, based on varying degrees of friction acting on the EHA cylinder. The results of the friction fault detection were compared with the popular Kalman filter (KF) based IMM strategy.

Maneuvering Car Tracking Using the Interacting Multiple Model and the Dynamic 2nd-Order SVSF Method

2015 ◽  
Author(s):  
Mina Attari ◽  
Hamed Hossein Afshari ◽  
Saeid Habibi
Keyword(s):  
State Estimation ◽  
Sliding Mode ◽  
Estimation Method ◽  
Variable Structure ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Structure Control ◽  
Position Data ◽  
Car Driving ◽  
Tracking Strategy

Car tracking algorithms have recently found a major role in intelligent automotive applications. They are mainly based on the state estimation techniques to solve the maneuvering car tracking problems. The dynamic 2nd-order SVSF method is a novel robust state estimation method that is based on the variable structure control theory. It benefits from the accuracy, robustness, and chattering suppression properties of second-order sliding mode systems for robust state estimation. The main contribution of this paper is to present and implement a new tracking strategy that is a combination of the dynamic 2nd-order SVSF with the IMM filter. It benefits from the robust performance of the dynamic 2nd-order SVSF and the switching property of the IMM filter. This strategy is simulated and examined under several car driving patterns and experimental position data that are captured by a GPS device. The robustness and efficiency of this strategy is then compared with the Kalman filter-based counterparts.

Automotive Tracking Technique Using a New IMM Based PDA-SVSF

2014 ◽  
Author(s):  
Mina Attari ◽  
Saeid Habibi
Keyword(s):  
Variable Structure ◽  
Vehicle Tracking ◽  
Vehicle Safety ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Modeling Uncertainties ◽  
Self Driving Cars ◽  
Safety Systems ◽  
Smooth Variable Structure Filter ◽  
Real Experimental Data

Car tracking algorithms are important for a number of applications, including self-driving cars and vehicle safety systems. The probabilistic data association (PDA) algorithm, in conjunction with Kalman Filter (KF), and interacting multiple model (IMM) are well studied, specifically in the aero-tracking applications. This paper studies single targets while performing maneuvers in the presence of clutter, which is a common scenario for road vehicle tracking applications. The relatively new smooth variable structure filter (SVSF) is demonstrated to be robust and stable filtering strategy under the presence of modeling uncertainties. In this paper, SVSF based PDA technique is combined with IMM method. The new method, referred to as IMM-PDA-SVSF is simulated under several possible car motion scenarios. Also, the algorithm is tested on a real experimental data acquired by GPS device.

On Transient Improvement of Variable Structure Controlled Systems Using Multimodel Switching 1

2010 ◽  
Vol 132 (3) ◽  
Author(s):  
Mehmet Akar
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Multiple Model ◽  
Robust Tracking ◽  
Controlled Systems ◽  
Control Scheme ◽  
Transient Improvement ◽  
Simulation Results

This paper presents a multiple model/controller scheme for robust tracking of a class of nonlinear systems in the presence of large plant uncertainties and disturbance. Each model is associated with a sliding mode controller, and a switching logic is designed to pick the model that best approximates the plant at each instant. Theoretically, it is shown that the proposed control scheme achieves perfect tracking despite the existence of disturbance, whereas simulation results verify the improvement in the transient performance.

Sliding Mode Controller and Filter Applied to an Electrohydraulic Actuator System

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Shu Wang ◽  
Richard Burton ◽  
Saeid Habibi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Structure Control ◽  
Estimation Strategy ◽  
Mode Control ◽  
New Strategy ◽  
Actuator System ◽  
Hydrostatic System ◽  
Electrohydraulic Actuator

A common problem pertaining to linear or nonlinear systems is the design of a combined robust control and estimation strategy that can effectively deal with noise and uncertainties. The variable structure control (VSC) and its special form of sliding mode control (SMC) demonstrate robustness with regard to uncertainties, although their performance can be severely degraded by noise. As such they can benefit from using state estimates obtained from filters. In this regard, this paper considers the use of a recently proposed robust state and parameter estimation strategy referred to as the variable structure filter (VSF) in conjunction with SMC. The contribution of this paper is a new strategy that combines sliding mode control with the variable structure filter. In the presence of bounded parametric uncertainties and noise, this combined method demonstrates robust stability both in terms of control and state estimation. Furthermore, the combined strategy can be used to achieve high regulation rates or short settling time. The combined VSF and SMC strategy is demonstrated by its application to a high precision hydrostatic system, referred to as the electrohydraulic actuator system.

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