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 Adaptive Fuzzy Modified Fixed-Time Fault-Tolerant Control on SE(3) for Coupled Spacecraft

2021 ◽  
Vol 2021 ◽  
pp. 1-21
Author(s):  
Yafei Mei ◽  
Ying Liao ◽  
Kejie Gong ◽  
Da Luo
Keyword(s):  
Motion Tracking ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Tracking Error ◽  
Fault Tolerant Control ◽  
Fixed Time ◽  
Stability And Convergence ◽  
Actuator Faults ◽  
Terminal Sliding Mode ◽  
Adaptive Fuzzy

This paper aims to solve the control problem of coupled spacecraft tracking maneuver in the case of actuator faults, inertia parametric uncertainties, and external disturbances. Firstly, the spacecraft attitude and position coupling kinematics and dynamics model are established on the Lie group SE(3), and the coupled relative motion tracking error model is derived by exponential coordinates. Then, considering the actuator faults, an adaptive fuzzy scheme is proposed to estimate the lumped disturbances in real time, and a novel modified fixed-time terminal sliding mode fault-tolerant control law is developed to deal with the actuator faults and compensate the lumped disturbances. Next, the Lyapunov method is used to prove the stability and convergence of the system. Finally, the proposed controller can achieve fast and high-precision fault-tolerant control goals, and its effectiveness and feasibility are verified by numerical simulation.

scholarly journals Finite-Time Attitude Fault Tolerant Control of Quadcopter System via Neural Networks

Mathematics ◽  
2020 ◽  
Vol 8 (9) ◽  
pp. 1541 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Nguyen Xuan Mung ◽  
Le Nhu Ngoc Thanh Ha ◽  
Tuan Tu Huynh ◽  
Sung Kyung Hong
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Terminal Sliding Mode Control ◽  
Actuator Faults ◽  
Model Uncertainties ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

This study investigates the design of fault-tolerant control involving adaptive nonsingular fast terminal sliding mode control and neural networks. Unlike those of previous control strategies, the adaptive law of the investigated algorithm is considered in both continuous and discontinuous terms, which means that any disturbances, model uncertainties, and actuator faults can be simultaneously compensated for. First, a quadcopter model is presented under the conditions of disturbances and uncertainties. Second, normal adaptive nonsingular fast terminal sliding mode control is utilized to handle these disturbances. Thereafter, fault-tolerant control based on adaptive nonsingular fast terminal sliding mode control and neural network approximation is presented, which can handle the actuator faults, model uncertainties, and disturbances. For each controller design, the Lyapunov function is applied to validate the robustness of the investigated method. Finally, the effectiveness of the investigated control approach is presented via comparative numerical examples under different fault conditions and uncertainties.

scholarly journals Fault-tolerant control for a class of n-order systems based on fast terminal sliding mode and extended state observer

2021 ◽  
pp. 002029402110286
Author(s):  
Pu Yang ◽  
Peng Liu ◽  
ChenWan Wen ◽  
Huilin Geng
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Singular Control ◽  
Fault Tolerant Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Terminal Sliding Surface

This paper focuses on fast terminal sliding mode fault-tolerant control for a class of n-order nonlinear systems. Firstly, when the actuator fault occurs, the extended state observer (ESO) is used to estimate the lumped uncertainty and its derivative of the system, so that the fault boundary is not needed to know. The convergence of ESO is proved theoretically. Secondly, a new type of fast terminal sliding surface is designed to achieve global fast convergence, non-singular control law and chattering reduction, and the Lyapunov stability criterion is used to prove that the system states converge to the origin of the sliding mode surface in finite time, which ensures the stability of the closed-loop system. Finally, the effectiveness and superiority of the proposed algorithm are verified by two simulation experiments of different order systems.

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 Backstepping Fault-Tolerant Control for Unmanned Thrust-Vectoring Aircraft Based on Sliding-Mode Observer

2018 ◽  
Vol 36 (5) ◽  
pp. 978-987
Author(s):  
Bingqian Li ◽  
Wenhan Dong ◽  
Xiaoshan Ma
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Surface Damage ◽  
Sliding Mode Observer ◽  
Control Surface ◽  
Actuator Faults ◽  
Thrust Vectoring ◽  
Fault Parameters ◽  
Uncertainty Control

In this paper, a backstepping fault-tolerant control based on sliding-mode observer is proposed for the unmanned thrust-vectoring aircraft (UTVA) control. First, the UTVA model with the uncertainty, control surface damage and actuator faults is described, which is divided into fast loop and slow loop. Next, the cascade observers including a high-order SMO and the discontinuous projection adaptive law are proposed to estimate the states with compensating the uncertainty and control surface damage, and the sliding-mode observer is designed to identify actuator faults and estimate fault parameters. Then, the backstepping fault-tolerant control combining the estimation of states and fault parameters is proposed to achieve the global fault-tolerant control, which compensates the uncertainty, control surface damage and actuator faults. Finally, simulation results are given to demonstrate the effectiveness for UTVA.

Higher order sliding mode control for active suspension systems subject to actuator faults and disturbances

2018 ◽  
Vol 233 (2) ◽  
pp. 280-298 ◽  
Author(s):  
Jinwei Sun ◽  
JingYu Cong ◽  
Liang Gu ◽  
Mingming Dong
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Active Suspension ◽  
Second Order ◽  
Sliding Mode Controller ◽  
Actuator Faults ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Second Order Sliding Mode

As the possibility of faults in active suspension actuators are higher and more severe compared to other components, this study presents a fault-tolerant control approach based on the second-order sliding mode control method. The aim of the controller is to improve riding comfort, guarantee handling stability, and provide adequate suspension stroke in the presence of disturbances and actuator faults. A nonlinear full-vehicle suspension system and hydraulic actuator with nonlinear characteristics are adopted for accurate control. Firstly, a nonlinear sliding manifold based on a nonsingular fast terminal sliding mode controller is introduced to suppress the sprung mass heave, pitch, and roll motions arising from road disturbances. Secondly, a second-order sliding mode-based super twisting controller is utilized to track the desired forces generated by the nonsingular fast terminal sliding mode controller with actuator faults and uncertainties. The controllers are robust against disturbances, uncertainties, and faults. Moreover, the stability of the super twisting controller is proved by the strong Lyapunov functions. Finally, numerical simulations are performed to demonstrate the effectiveness of the controller. Four different conditions, random road profile, bump road excitation, single-wheel bump excitation, and partial faults are considered. The main contributions of this study are: (1) combination of the above algorithms to deal with actuator faults and improve active suspension performance; (2) the controller proposed in this study has a simple structure. Simulation results indicate that the nonsingular fast terminal sliding mode super twisting controller can guarantee the performance of the closed-loop system under both faulty and healthy conditions.

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