Active fault-tolerant control of a double inverted pendulum

2007 ◽  
Vol 221 (6) ◽  
pp. 895-904 ◽  
Author(s):  
Z Weng ◽  
R. J. Patton ◽  
P Cui
Keyword(s):  
Inverted Pendulum ◽  
Active Fault ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
Residual Vector ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Affine Parameter ◽  
Active Fault Tolerant Control

This paper proposes an active fault-tolerant control scheme based on a gain-scheduled H∞ design strategy. Under the assumption that the effects of faults on the system can be of affine parameter dependence, a reconfigurable robust H∞ controller is developed. The resulting controller is a function of the fault effect factors, which can be derived online from the residual vector of the fault detection and isolation (FDI) mechanism. To demonstrate the effectiveness of the proposed method, a non-linear double inverted pendulum system with a fault in the motor tachometer loop is considered. The adaptive fault-tolerant controller recovers well from the unstable system with loop failure.

scholarly journals Integrated FDI/FTC approach for wind turbines using a LPV interval predictor subspace approach and virtual sensors/actuators

2021 ◽  
pp. 095765092110020
Author(s):  
Houda Chouiref ◽  
Boumedyen Boussaid ◽  
Mohamed Naceur Abdelkrim ◽  
Vicenç Puig ◽  
Christophe Aubrun
Keyword(s):  
Fault Detection ◽  
Wind Turbine ◽  
Wind Turbines ◽  
Active Fault ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Active Fault Tolerant Control

In order to keep wind turbines connected and in operation at all times despite the occurrence of some faults, advanced fault detection and accommodation schemes are required. To achieve this goal, this paper proposes to use the Linear Parameter Varying approach to design an Active Fault Tolerant Control for wind turbines. This Active Fault Tolerant Control is integrated with a Fault Detection and Isolation approach. Fault detection is based on a Linear Parameter Varying interval predictor approach while fault isolation is based on analysing the residual fault signatures. To include fault-tolerance in the control system (already available in the considered wind turbine case study based on the well known SAFEPROCESS benchmark), the information of the Fault Detection and Isolation approach block is exploited and it is used in the implementation of a virtual actuator and sensor scheme. The proposed Active Fault Tolerant Control is evaluated using fault scenarios which are proposed in the wind turbine benchmark to assess its performance. Results show the effectiveness of the proposed Active Fault Tolerant Control approach in faulty situation.

scholarly journals Constrained Active Fault Tolerant Control Based on Active Fault Diagnosis and Interpolation Optimization

Entropy ◽  
2021 ◽  
Vol 23 (8) ◽  
pp. 924
Author(s):  
Kezhen Han ◽  
Changzhi Chen ◽  
Mengdi Chen ◽  
Zipeng Wang
Keyword(s):  
Fault Diagnosis ◽  
Active Fault ◽  
Fault Tolerant ◽  
Estimation Error ◽  
Treatment Plant ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
Feasible Region ◽  
Control Scheme ◽  
Active Fault Tolerant Control

A new active fault tolerant control scheme based on active fault diagnosis is proposed to address the component/actuator faults for systems with state and input constraints. Firstly, the active fault diagnosis is composed of diagnostic observers, constant auxiliary signals, and separation hyperplanes, all of which are designed offline. In online applications, only a single diagnostic observer is activated to achieve fault detection and isolation. Compared with the traditional multi-observer parallel diagnosis methods, such a design is beneficial to improve the diagnostic efficiency. Secondly, the active fault tolerant control is composed of outer fault tolerant control, inner fault tolerant control and a linear-programming-based interpolation control algorithm. The inner fault tolerant control is determined offline and satisfies the prescribed optimal control performance requirement. The outer fault tolerant control is used to enlarge the feasible region, and it needs to be determined online together with the interpolation optimization. In online applications, the updated state estimates trigger the adjustment of the interpolation algorithm, which in turn enables control reconfiguration by implicitly optimizing the dynamic convex combination of outer fault tolerant control and inner fault tolerant control. This control scheme contributes to further reducing the computational effort of traditional constrained predictive fault tolerant control methods. In addition, each pair of inner fault tolerant control and diagnostic observer is designed integratedly to suppress the robust interaction influences between estimation error and control error. The soft constraint method is further integrated to handle some cases that lead to constraint violations. The effectiveness of these designs is finally validated by a case study of a wastewater treatment plant model.

scholarly journals A Survey on Active Fault-Tolerant Control Systems

Electronics ◽  
2020 ◽  
Vol 9 (9) ◽  
pp. 1513
Author(s):  
Alireza Abbaspour ◽  
Sohrab Mokhtari ◽  
Arman Sargolzaei ◽  
Kang K. Yen
Keyword(s):  
Control System ◽  
Fault Detection ◽  
Control Systems ◽  
Active Fault ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
Control Performance ◽  
System Components ◽  
Active Fault Tolerant Control

Faults and failures in the system components are two main reasons for the instability and the degradation in control performance. In recent decades, fault-tolerant control (FTC) approaches have been introduced to improve the resiliency of control systems against faults and failures. In general, FTC techniques are classified into active and passive approaches. This paper reviews fault and failure causes in control systems and discusses the latest solutions that are introduced to make the control system resilient.The recent achievements in fault detection and isolation (FDI) approaches and active FTC designs are investigated. Furthermore, a thorough comparison of several different aspects is conducted to understand the advantage and disadvantages of various FTC techniques to motivate researchers to further developing FTC and FDI approaches.

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