Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach

2018 ◽  
Vol 232 (6) ◽  
pp. 652-661 ◽  
Author(s):  
Parisa Yazdjerdi ◽  
Nader Meskin
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Fault Tolerant ◽  
Kinematic Model ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Multiple Model ◽  
Control Approach ◽  
Differential Drive ◽  
Model Approach

In this article, an actuator fault-tolerant control scheme is proposed for differential-drive mobile robots based on the concept of multiple-model approach. The nonlinear kinematic model of the differential-drive mobile robot is discretized and a bank of extended Kalman filters is designed to detect, isolate, and identify actuator faults. A fault-tolerant controller is then developed based on the detected fault to accommodate its effect on the trajectory-tracking performance of the mobile robot. Extensive experimental results are presented to demonstrate the efficacy of the proposed fault-tolerant control approach.

scholarly journals Actuator fault estimation and fault tolerant control in three physically-linked 2WD mobile robots

2018 ◽  
Vol 51 (24) ◽  
pp. 709-716 ◽  
Author(s):  
Daniel A. Pereira ◽  
Ayad Al-Dujaili ◽  
Maan El Badaoui El Najjar ◽  
Vincent Cocquempot ◽  
Yajie Ma
Keyword(s):  
Mobile Robots ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Estimation ◽  
Actuator Fault

Active fault-tolerant control approach design for rigid spacecraft with multiple actuator faults

2018 ◽  
Vol 232 (10) ◽  
pp. 1365-1378 ◽  
Author(s):  
Zhifeng Gao ◽  
Peng Cheng ◽  
Moshu Qian ◽  
Guoping Jiang ◽  
Jinxing Lin
Keyword(s):  
Active Fault ◽  
Actuator Saturation ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Actuator Faults ◽  
Control Approach ◽  
Control Scheme ◽  
Rigid Spacecraft ◽  
Active Fault Tolerant Control

In this study, the active fault-tolerant control problem is investigated for a rigid spacecraft in the presence of inertia uncertainty, external disturbance, multiple actuator faults and actuator saturation. The attitude system model of spacecraft and actuator fault model are first given. A sliding mode–based fault detection observer and a radial basis function neural networks–based fault estimation observer are designed to detect the time of actuator fault occurred and estimate the amplitude of unknown fault, respectively. On that basis, an active fault-tolerant control scheme is proposed to accommodate the effects of multiple actuator faults, and it guarantees that the state trajectory of attitude systems without actuator saturation converges to a neighborhood of the origin in finite time. Another active fault-tolerant control scheme is further proposed in actuator saturation constraint case; it ensures that all the closed-loop signals are finite time convergence. Finally, simulation results are given to illustrate the effectiveness of the proposed fault-tolerant control approach.

Integrated model predictive fault-tolerant control, and fault detection based on the parity space approach for a reverse osmosis desalination unit

2020 ◽  
Vol 42 (10) ◽  
pp. 1882-1894
Author(s):  
Reza Mehrad ◽  
Seyed Mohamad Kargar
Keyword(s):  
Fault Detection ◽  
Reverse Osmosis ◽  
Predictive Control ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Control Approach ◽  
Parity Space ◽  
Reverse Osmosis Desalination ◽  
Space Approach

Actuator faults are inevitable in small reverse osmosis desalination plants. It may cause energy losses and reduce the quality of the freshwater, which may endanger human life. This paper focuses on the integrated fault detection and fault-tolerant control approach. The primary motivation of this paper is to propose a novel integrated fault detection and fault-tolerant control approach. The actuator fault is estimated using the concept of parity space approach. Then the system model is updated in the fault-tolerant control block using the information of the estimated fault parameter. Moreover, the proposed approach uses the receding-horizon predictive control-bounded data uncertainties controller, which is the robust and stable variant of generalized predictive control. The remaining uncertainty caused by the model and observer is compensated by this controller. The structure of a small reverse osmosis desalination plant is deployed. In this plant, the permeate flow rate and conductivity are controlled by a retentate valve and a bypass valve, which add a small amount of inlet to the outlet. The performances of three predictive model controllers are evaluated, and a comparison is made between their computational costs, stability, and robustness. The plant is considered to be linear time-invariant and subject to model uncertainties, measurement noise, and actuator fault in the retentate valve as efficiency dropping. The results reveal the robustness of the proposed approach concerning noise and matched uncertainties as well as its accommodation to actuator fault up to 90%.

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