scholarly journals Composite Compensation Control of Robotic System Subject to External Disturbance and Various Actuator Faults

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Hao Sheng ◽  
Xia Liu
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Robotic System ◽  
Sliding Mode Controller ◽  
Actuator Faults ◽  
Compensation Control ◽  
Control Scheme ◽  
Compensation Error ◽  
Fault Compensation

This paper studies the problems of external disturbance and various actuator faults in a nonlinear robotic system. A composite compensation control scheme consisting of adaptive sliding mode controller and observer-based fault-tolerant controller is proposed. First, a sliding mode controller is designed to suppress the external disturbance, and an adaptive law is employed to estimate the bound of the disturbance. Next, a nonlinear observer is designed to estimate the actuator faults, and a fault-tolerant controller is obtained based on the observer. Finally, the composite compensation control scheme is obtained to simultaneously compensate the external disturbance and various actuator faults. It is proved by Lyapunov function that the disturbance compensation error and fault compensation error can converge to zero in finite time. The theoretical results are verified by simulations. Compared to the conventional fault reconstruction scheme, the proposed control scheme can compensate the disturbance while dealing with various actuator faults. The fault compensation accuracy is higher, and the fault error convergence rate is faster. Moreover, the robot can track the desired position trajectory more accurately and quickly.

A fault-tolerant control scheme within adaptive disturbance observer for hypersonic vehicle

2017 ◽  
Vol 233 (3) ◽  
pp. 1071-1088 ◽  
Author(s):  
Jun Zhou ◽  
Jing Chang ◽  
Zongyi Guo
Keyword(s):  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Performance Guarantees ◽  
Uncertain Model ◽  
Control Scheme ◽  
And Performance

The paper describes the design of a fault-tolerant control scheme for an uncertain model of a hypersonic reentry vehicle subject to actuator faults. In order to improve superior transient performances for state tracking, the proposed method relies on a back-stepping sliding mode controller combined with an adaptive disturbance observer and a reference vector generator. This structure allows for a faster response and reduces the overshoots compared to linear conventional disturbance observers based sliding mode controller. Robust stability and performance guarantees of the overall closed-loop system are obtained using Lyapunov theory. Finally, numerical simulations results illustrate the effectiveness of the proposed technique.

scholarly journals Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

2015 ◽  
Vol 25 (3) ◽  
pp. 561-576 ◽  
Author(s):  
Abdel-Razzak Merheb ◽  
Hassan Noura ◽  
François Bateman
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Search Algorithm ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Actuator Faults ◽  
Motor Speed ◽  
Partial Loss ◽  
Structure Control ◽  
Natural Equilibrium

Abstract In this paper, sliding mode control is used to develop two passive fault tolerant controllers for an AscTec Pelican UAV quadrotor. In the first approach, a regular sliding mode controller (SMC) augmented with an integrator uses the robustness property of variable structure control to tolerate partial actuator faults. The second approach is a cascaded sliding mode controller with an inner and outer SMC loops. In this configuration, faults are tolerated in the fast inner loop controlling the velocity system. Tuning the controllers to find the optimal values of the sliding mode controller gains is made using the ecological systems algorithm (ESA), a biologically inspired stochastic search algorithm based on the natural equilibrium of animal species. The controllers are tested using SIMULINK in the presence of two different types of actuator faults, partial loss of motor power affecting all the motors at once, and partial loss of motor speed. Results of the quadrotor following a continuous path demonstrated the effectiveness of the controllers, which are able to tolerate a significant number of actuator faults despite the lack of hardware redundancy in the quadrotor system. Tuning the controller using a faulty system improves further its ability to afford more severe faults. Simulation results show that passive schemes reserve their important role in fault tolerant control and are complementary to active techniques

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 Anti-Disturbance Fault-Tolerant Sliding Mode Control for Systems with Unknown Faults and Disturbances

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1487
Author(s):  
Xiaoli Zhang ◽  
Zhengyu Zhu ◽  
Yang Yi
Keyword(s):  
Control Algorithm ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Actuator Faults ◽  
Controlled System ◽  
Simulation Results ◽  
The Stability ◽  
Mismatched Disturbances ◽  
The Impact

In this paper, a novel control algorithm with the capacity of fault tolerance and anti-disturbance is discussed for the systems subjected to actuator faults and mismatched disturbances. The fault diagnosis observer (FDO) and the disturbance observer (DO) are successively designed to estimate the dynamics of unknown faults and disturbances. Furthermore, with the help of the observed information, a sliding surface and the corresponding sliding mode controller are proposed to compensate the actuator faults and eliminate the impact of mismatched disturbances simultaneously. Meanwhile, the convex optimization algorithm is discussed to guarantee the stability of the controlled system. The favorable anti-disturbance and fault-tolerant results can also be proved. Finally, the validity of the algorithm is certified by the simulation results for typical unmanned aerial vehicles (UAV) systems.

Fault-tolerant control of a rotary shape memory alloy actuator using a terminal sliding mode controller

2021 ◽  
pp. 095440622110467
Author(s):  
Pooria Beydaghi ◽  
Moosa Ayati ◽  
Mohammad Reza Zakerzadeh
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Sliding Mode Controller ◽  
Actuator Faults ◽  
Terminal Sliding Mode ◽  
Sliding Mode Controllers ◽  
Sma Actuator

This paper focuses on developing a Fault-tolerant control (FTC) method for a rotary Shape Memory Alloy (SMA) actuator against actuator faults. The SMA actuator uses a pair of SMA wires in the antagonistic configuration for rotating a pulley. A proposed Terminal Sliding Mode Controller (TSMC) is utilized to compensate for the effects of actuator faults and to guarantee acceptable tracking performance in the presence of faults. The developed closed-loop scheme is applied to both a simulated model of the actuator as well as a real actuator in an experimental setup and then, the performance is evaluated and compared with a Proportional (P) controller and a sliding mode controller. It is shown that the proposed scheme works well in both normal and faulty conditions. The experimental results indicate that TSMC has almost no steady-state error while both P and sliding mode controllers have a considerable error (about 20% relative error), in the presence of the actuator faults.

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 An adaptive sliding mode actuator fault tolerant control scheme for octorotor system

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983243 ◽  
Author(s):  
Fatima Ejaz ◽  
Mirza Tariq Hamayun ◽  
Shariq Hussain ◽  
Salman Ijaz ◽  
Shunkun Yang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Adaptive Sliding Mode Control ◽  
Actuator Faults ◽  
Control Approach ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme

In this article, an adaptive sliding mode control is used in the framework of fault tolerant control to mitigate the effects of actuator faults without requiring the actuator health information. Since unmanned aerial vehicles are being used in multiple fields such as military, surveillance, media, agriculture, communication and trading sector, therefore it is of vital importance to overcome the effects of actuator faults that can decline system performance and can even lead to some serious accidents. The proposed adaptive sliding mode control approach can handle actuator faults directly without requiring any faults information and adaptively adjusts controller gains to maintain acceptable level of performance. To validate the effectiveness of the proposed adaptive fault tolerant control scheme, it has been tested in simulations using non-linear Benchmark model of Octorotor system and its performance is compared with the optimal LQR control approach.

scholarly journals A Composite Robust Fault-Tolerant Control Scheme for Limited-Thrust Spacecraft Rendezvous in Near-Circular Orbits

2017 ◽  
Vol 139 (12) ◽  
Author(s):  
Neng Wan ◽  
Weiran Yao ◽  
Mingming Shi
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Actuator Faults ◽  
External Disturbances ◽  
Circular Orbits ◽  
Control Scheme ◽  
Guaranteed Cost ◽  
Fault Information ◽  
Composite Control Scheme

External perturbations and actuator faults are two practical and significant issues that deserve designers' considerations when synthesizing the controllers for spacecraft rendezvous. A composite robust fault-tolerant control (FTC) scheme that does not require the fault information is proposed in this paper for limited-thrust rendezvous in near-circular orbits. Within the control scheme, a reliable integral sliding mode (ISM) auxiliary controller and a modified guaranteed cost FTC are, respectively, developed to attenuate the external disturbances and to stabilize the nominal rendezvous system with actuator faults. Comparisons with previous works as well as a more practical and challenging simulation example are presented to verify the advantages of this composite control scheme.

scholarly journals Sliding mode-based online fault compensation control for modular reconfigurable robots through adaptive dynamic programming

2021 ◽  
Author(s):  
Hongbing Xia ◽  
Ping Guo
Keyword(s):  
Dynamic Programming ◽  
Sliding Mode ◽  
Adaptive Dynamic Programming ◽  
Fault Detection And Isolation ◽  
Iteration Algorithm ◽  
Adaptive Dynamic ◽  
Compensation Control ◽  
Reconfigurable Robots ◽  
Control Scheme ◽  
Fault Compensation

AbstractIn this paper, a sliding mode (SM)-based online fault compensation control scheme is investigated for modular reconfigurable robots (MRRs) with actuator failures via adaptive dynamic programming. It consists of a SM-based iterative controller, an adaptive robust term and an online fault compensator. For fault-free MRR systems, the SM surface-based Hamilton–Jacobi–Bellman equation is solved by online policy iteration algorithm. The adaptive robust term is added to guarantee the reachable condition of SM surface. For faulty MRR systems, the actuator failure is compensated online to avoid the fault detection and isolation mechanism. The closed-loop MRR system is guaranteed to be asymptotically stable under the developed fault compensation control scheme. Simulation results verify the effectiveness of the present fault compensation control approach.

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