scholarly journals Robust Adaptive Sliding Mode Fault Tolerant Control for Nonlinear System with Actuator Fault and External Disturbance

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Liang Zheng ◽  
Xuelian Dong ◽  
Qian Luo ◽  
Menglan Zeng ◽  
Xinping Yang ◽  
...  
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Estimation Errors ◽  
Adaptive Sliding Mode ◽  
Sliding Motion ◽  
Robust Adaptive

In this paper, an adaptive sliding mode fault tolerant control (ASMFTC) approach is proposed for a class of nonlinear systems with actuator fault, uncertainty, and external disturbance. Specifically, first, a novel observer is proposed to estimate the state, actuator fault, and external disturbance. Then, by utilising the observed information, a novel output sliding mode observer is constructed. In the control method, an adaptive law and two compensators are designed to attenuate the unknown estimation errors, actuator fault, and disturbance. Furthermore, the reaching ability of the sliding motion is analysed and the H-infinite performance is introduced to ensure the robustness of the system. Finally, a flexible single joint manipulator system and a two-cart system are used to verify the effectiveness of the proposed method.

scholarly journals Fault-tolerant Control of Quadcopter UAVs Using Robust Adaptive Sliding Mode Approach

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 95 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Sung Kyung Hong
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Adaptive Sliding Mode Control ◽  
Actuator Faults ◽  
Adaptive Sliding Mode ◽  
System Uncertainties ◽  
Robust Adaptive

In this paper, a fault-tolerant control method is proposed for quadcopter unmanned aerial vehicles (UAV) to account for system uncertainties and actuator faults. A mathematical model of the quadcopter UAV is first introduced when faults occur in actuators. A normal adaptive sliding mode control (NASMC) approach is proposed as a baseline controller to handle the chattering problem and system uncertainties, which does not require information of the upper bound. To improve the performance of the NASMC scheme, radial basis function neural networks are combined with an adaptive scheme to make a quick compensation in presence of system uncertainties and actuator faults. The Lyapunov theory is applied to verify the stability of the proposed methods. The effectiveness of modified ASMC algorithm is compared with that of NASMC using numerical examples under different faulty conditions.

scholarly journals Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Energies ◽  
2019 ◽  
Vol 12 (6) ◽  
pp. 1139 ◽  
Author(s):  
Ngoc Nguyen ◽  
Sung Hong
Keyword(s):  
Fault Diagnosis ◽  
Active Fault ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Total Loss ◽  
Actuator Faults ◽  
Control Scheme ◽  
Robust Adaptive

Fault-tolerant control has drawn attention in recent years owning to its reliability and safe flight during missions. In this article, an active fault-tolerant control method is proposed to control a quadcopter in the presence of actuator faults and disturbances. Firstly, the dynamics of the quadcopter are presented. Secondly, a robust adaptive sliding mode Thau observer is presented to estimate the time-varying magnitudes of actuator faults. Thirdly, a fault-tolerant control scheme based on sliding mode control and reconfiguration technique is designed to maintain the quadcopter at the desired position despite the presence of faults. Unlike previous studies, the proposed method aims to integrate the fault diagnosis and a fault-tolerant control scheme into a single unit with total loss of actuator. Simulation results illustrate the efficiency of the suggested algorithm.

scholarly journals A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator Fault

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Jing Zhao ◽  
Sen Jiang ◽  
Fei Xie ◽  
Zhen He ◽  
Jian Fu
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Actuator Fault ◽  
Adaptive Technology ◽  
Control Scheme ◽  
Simulation Results

A fault tolerant control (FTC) scheme based on adaptive sliding mode control technique is proposed for manipulator with actuator fault. Firstly, the dynamic model of manipulator is introduced and its actuator faulty model is established. Secondly, a fault tolerant controller is designed, in which both the parameters of actuator fault and external disturbance are estimated and updated by online adaptive technology. Finally, taking a two-joint manipulator as example, simulation results show that the proposed fault tolerant control scheme is effective in tolerating actuator fault; meanwhile it has strong robustness for external disturbance.

scholarly journals Fractional-Order Finite-Time, Fault-Tolerant Control of Nonlinear Hydraulic-Turbine-Governing Systems with an Actuator Fault

Energies ◽  
2020 ◽  
Vol 13 (15) ◽  
pp. 3812
Author(s):  
Ying Yang ◽  
Bin Wang ◽  
Yuqiang Tian ◽  
Peng Chen
Keyword(s):  
Power Systems ◽  
Power System ◽  
Fractional Order ◽  
Finite Time ◽  
Control Method ◽  
Fault Tolerant ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Hydraulic Turbine ◽  
Actuator Fault

Hydropower units undertake tasks such as peak shaving, frequency modulation, and providing accident reserves in the power system. With the increasing capacity and structural complexity of power systems, hydropower units have become more important. Hydraulic-turbine-governing systems (HTGSs) need to have higher control performance and automation levels to meet the higher regulatory requirements of the power system. To achieve high-quality control, we proposed a new finite-time, fault-tolerant control method for HTGSs with an actuator fault. First, a fractional-order model for HTGSs with uncertainty, external disturbance, and an actuator fault was introduced. Second, a fault estimator that could quickly track the fault signal for an actuator fault was proposed. Then, based on the fractional-order finite-time stability theorem, a finite-time, fault-tolerant controller was proposed for the stabilization of an HTGS. Furthermore, a controller was developed as a fractional differential form combined with a smooth bounded arctangent function to effectively suppress jitters and uncertainties. Finally, numerical experimental results verified the validity and robustness of the proposed scheme.

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