A novel fault-tolerant control strategy based on inverse bicausal bond graph model in linear fractional transformation

2021 ◽  
Vol 13 (11) ◽  
pp. 168781402110598
Author(s):  
Yacine Lounici ◽  
Youcef Touati ◽  
Smail Adjerid ◽  
Djamel Benazzouz ◽  
Billal Nazim Chebouba
Keyword(s):  
Time Delay ◽  
Control Strategy ◽  
Fault Tolerant ◽  
Graph Model ◽  
Fault Tolerant Control ◽  
Bond Graph ◽  
Pi Controller ◽  
Control Signal ◽  
Linear Fractional Transformation ◽  
Fault Estimation

This article presents the development of a novel fault-tolerant control strategy. For this task, a bicausal bond graph model-based scheme is designed to generate online information to the inverse controller about the faults estimation. Secondly, a new approach is proposed for the fault-tolerant control based on the inverse bicausal bond graph in linear fractional transformation form. However, because of the time delay for fault estimation, the PI controller is used to reduce the error before the fault is estimated. Hence, the required input that compensates the fault is the sum of the control signal delivered by the PI controller and the control signal resulting from the inverse bicausal bond graph for fast fault compensation and for maintaining the control objectives. The novelties of the proposed approach are: (1) to exploit the power concept of the bond graph by feeding the power generated by the fault in the inverse model (2) to suitably combining the inverse bicausal bond graph with the PI feedback controller so that the proposed strategy can compensate for the fault with a very short time delay and stabilize the desired output. Finally, the experimental results illustrate the efficiency of the proposed strategy.

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 Fault Tolerant Control for Uncertain Time-Delay Systems with a Trajectory Tracking Approach

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
ShiLei Zhao ◽  
Hong Guo ◽  
YuPeng Liu
Keyword(s):  
Time Delay ◽  
Trajectory Tracking ◽  
Fault Tolerant ◽  
Estimation Error ◽  
Tracking Error ◽  
Fault Tolerant Control ◽  
Delay Systems ◽  
Descriptor System ◽  
Fault Estimation ◽  
Time Delay Systems

This paper studies the problem of fault tolerant control by trajectory tracking for a class of linear constant time-delay systems. The aim is to design a control law by considering the fault detected by the observer to make the faulty system track the reference model even if faults occur. By considering two kinds of actuator faults, one constant and another time-varying, the corresponding proportional integral observers and active FTC control laws are designed, respectively. State tracking error, state estimation error, output estimation error, and fault estimation error are combined into a descriptor system. Based on Lyapunov-Krasovskii functional approach stability problems of the descriptor system are easily solved in terms of the Linear Matrix Inequalities (LMI). Finally, a numerical example is considered to prove the effectiveness in both cases.

Active fault-tolerant control of a Schon̈flies parallel manipulator based on time delay estimation

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Pegah Ghaf-Ghanbari ◽  
Mahmood Mazare ◽  
Mostafa Taghizadeh
Keyword(s):  
Time Delay ◽  
Feedback Linearization ◽  
Parallel Manipulator ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Delay Estimation ◽  
Fault Estimation

Abstract In this paper, a new hybrid fault-tolerant control (FTC) strategy based on nonsingular fast integral-type terminal sliding mode (NFITSM) and time delay estimation (TDE) is proposed for a Schönflies parallel manipulator. In order to detect, isolate, and accommodate actuator faults, TDE is used as an online fault estimation algorithm. Stability analysis of the closed-loop system is performed using Lyapunov theory. The proposed controller performance is compared with conventional sliding mode and feedback linearization control methods. The obtained results reveal the superiority of the proposed FTC based on TDE and NFITSM.

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