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.

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 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.

Robust fault tolerant control based on adaptive observer for Takagi-Sugeno fuzzy systems with sensor and actuator faults: Application to single-link manipulator

2020 ◽  
Vol 42 (12) ◽  
pp. 2308-2323
Author(s):  
Salama Makni ◽  
Maha Bouattour ◽  
Ahmed El Hajjaji ◽  
Mohamed Chaabane
Keyword(s):  
Controller Design ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Single Step ◽  
Adaptive Observer ◽  
Linear Matrix ◽  
Actuator Faults ◽  
Single Link ◽  
Comparative Results ◽  
Takagi Sugeno

In this work, we investigate the problem of control for nonlinear systems represented by Takagi-Sugeno (T-S) fuzzy models affected by both sensor and actuator faults subject to an unknown bounded disturbances (UBD). For this, we design an adaptive observer to estimate state, sensor and actuator fault vectors simultaneously despite the presence of external disturbances. Based on this observer, we develop a fault tolerant control (FTC) law not only to stabilize closed loop system, but also to compensate the fault effects. For the observer-based controller design, we propose less conservative conditions formulated in terms of linear matrix inequalities (LMIs). Moreover, both observer and controller gains are calculated via solving a set of LMIs only in single step. Finally, comparative results and an application to single-link flexible joint robot are afforded to prove the efficiency of the proposed design.

scholarly journals Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for Manipulator

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Bowen Hong ◽  
Lina Yao ◽  
Zhiwei Gao
Keyword(s):  
Fault Diagnosis ◽  
Controller Design ◽  
Fault Tolerant ◽  
Adaptive Observer ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Sensor Fault ◽  
Integrated Sensor ◽  
Model Control ◽  
Constant Fault

In this paper, an integrated scheme including fault diagnosis and fault-tolerant controller design is proposed for the manipulator system with the sensor fault. Any constant fault or time-varying fault can be estimated by the fault diagnosis scheme based on the adaptive observer rapidly and accurately, and the designed parameters can be solved by the linear matrix inequality. Using the fault estimation information, a fault-tolerant controller combining the characteristics of the proportional differentiation control and the sliding model control is designed to trace the expected trajectory via the back-stepping method. Finally, the effectiveness of the above scheme is verified by the simulation results.

scholarly journals Adaptive Observer Based Fault Tolerant Control for Sensor and Actuator Faults in Wind Turbines

Sensors ◽  
2021 ◽  
Vol 21 (24) ◽  
pp. 8170
Author(s):  
Jing Teng ◽  
Changling Li ◽  
Yizhan Feng ◽  
Taoran Yang ◽  
Rong Zhou ◽  
...  
Keyword(s):  
Wind Turbines ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Adaptive Observer ◽  
Pole Placement ◽  
Fault Estimation ◽  
Actuator Faults ◽  
Control Scheme ◽  
Adaptive Observers ◽  
Generation Capacity

The installed wind energy generation capacity has been increasing dramatically all over the world. However, most wind turbines are installed in hostile environments, where regular operation needs to be ensured by effective fault tolerant control methods. An adaptive observer-based fault tolerant control scheme is proposed in this article to address the sensor and actuator faults that usually occur on the core subsystems of wind turbines. The fast adaptive fault estimation (FAFE) algorithm is adopted in the adaptive observers to accurately and rapidly located the faults. Based on the states and faults estimated by the adaptive observers, the state feedback fault tolerant controllers are designed to stabilize the system and compensate for the faults. The gain matrices of the controllers are calculated by the pole placement method. Simulation results illustrate that the proposed fault tolerant control scheme with the FAFE algorithm stabilizes the faulty system effectively and performs better than the baseline on the benchmark model of wind turbines.

A Passive Fault-Tolerant Switched Control Approach for Linear Multivariable Systems: Application to a Quadcopter Unmanned Aerial Vehicle Model

2019 ◽  
Vol 142 (3) ◽  
Author(s):  
Hasan Başak ◽  
Emre Kemer ◽  
Emmanuel Prempain
Keyword(s):  
Output Feedback ◽  
State Feedback ◽  
Fault Tolerant ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Passive State ◽  
Linear Matrix ◽  
Control Approach ◽  
Linear Time Invariant ◽  
L2 Norm

Abstract This paper proposes synthesis algorithms for the design of passive state- and output-feedback fault-tolerant controllers. Sufficient conditions for the existence and the construction of such fault-tolerant controllers are given in terms of linear matrix inequalities (LMIs) which can be solved efficiently. The state-feedback fault-tolerant controller consists of a family of state-feedback gains switched appropriately according to a stabilizing switching signal so that the closed-loop system satisfies a performance requirement expressed in terms of system L2 norm. Similarly, the output feedback controller consists of a family of full-order linear, time-invariant controllers switched according to a stabilizing signal that depends only on the controller states. Both approaches are passive in the sense that they do not rely on the detection and/or the estimation of the faults. The proposed approaches are tested on a nonlinear model of a quadcopter. Simulation results show that satisfactory stability, tracking, and disturbance rejection are maintained despite of time-varying actuator faults.

scholarly journals Adaptive Observer-Based Fault Detection and Fault-Tolerant Control of Quadrotors under Rotor Failure Conditions

2020 ◽  
Vol 10 (10) ◽  
pp. 3503 ◽  
Author(s):  
Yu-Hsuan Lien ◽  
Chao-Chung Peng ◽  
Yi-Hsuan Chen
Keyword(s):  
Fault Detection ◽  
Flight Control ◽  
Control Strategy ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Adaptive Observer ◽  
Fault Estimation ◽  
Failure Conditions

This paper aims to propose a strategy for the flight control of quad-rotors under single rotor failure conditions. The proposed control strategy consists of two stages—fault detection (FD) and fault tolerant control (FTC). A dual observer-based strategy for FD and fault estimation is developed. With the combination of the results from both observers, the decision making in whether a fault actually happened or the observed anomaly was caused by an external disturbance could be distinguished. Following the FD result, a control strategy for normal flight, as well as the abnormal one, is presented. The FTC considers a real-time coordinate transformation scheme to manipulate the target angles for the quad-rotor to follow a prescribed trajectory. When a rotor fault happens, it is going to be detected by the dual observers and then the FTC is activated to stabilize the system such that the trajectory following task can still be fulfilled. Furthermore, in order to achieve robust flight in the presence of external wind perturbation, the sliding mode control (SMC) theory is further integrated. Simulations illustrate the effectiveness and feasibility of the proposed method.

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 Fault Tolerant Control of Induction Motor Drives Subject to Rotor Resistance Adaptation

2016 ◽  
Vol 1 (1) ◽  
pp. 11-22
Author(s):  
N. Boumalha ◽  
D. Kouchih ◽  
M. Tadjine ◽  
M.S. Boucherit
Keyword(s):  
Induction Motor ◽  
Fault Tolerant ◽  
Induction Machine ◽  
Fault Tolerant Control ◽  
Motor Drives ◽  
Lyapunov Theory ◽  
Adaptive Observer ◽  
Induction Motor Drives ◽  
Rotor Resistance ◽  
And Performance

This paper describes the synthesis of a vector fault tolerant control of induction motor drives using an adaptive observer. This observer is used to detect the rotor resistance and flux components using the stator terminal voltages and currents. The rotor resistance is adapted using a new algorithm which does not imply a high computational load. Stability analysis based on Lyapunov theory is performed in order to guarantee the closed loop stability. The rotor resistance is used for the correction of the controllers and the rotor time constant. To verify the tolerance and the applicability of this control, we consider the stator inter-turn fault which is frequently encountered in practice. An analytical method for the modelling of this fault is presented. The equations which describe the transient as well as steady state behavior of unsymmetrical induction machine including the computation of machine inductances are presented. These inductances are calculated analytically using the magnetic field distribution through the machine air-gap. Simulation results are provided to evaluate the consistency and performance of the proposed fault tolerant control of induction motor based vector control.

Sign in / Sign up

Export Citation Format

Share Document