scholarly journals Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation

2018 ◽  
Author(s):  
Romano Capocci ◽  
Edin Omerdic ◽  
Gerard Dooly ◽  
Daniel Toal
Keyword(s):  
Control System ◽  
Fault Detection ◽  
Virtual Instrument ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
Control Allocation ◽  
Vertical Layer ◽  
Fault Accommodation ◽  
Model Free

This paper describes a novel thruster fault-tolerant control system (FTC) for open-frame remotely operated vehicles (ROVs). The proposed FTC consists of two subsystems: a model-free thruster fault detection and isolation subsystem (FDI) and a fault accommodation subsystem (FA). The FDI subsystem employs fault detection units (FDUs), associated with each thruster, to monitor their state. The robust, reliable and adaptive FDUs use a model-free pattern recognition neural network (PRNN) to detect internal and external faulty states of the thrusters in real time. The FA subsystem combines information provided by the FDI subsystem with predefined, user-configurable actions to accommodate partial and total faults and to perform an appropriate control reallocation. Software-level actions include penalisation of faulty thrusters in solution of control allocation problem and reallocation of control energy among the operable thrusters. Hardware-level actions include power isolation of faulty thrusters (total faults only) such that the entire ROV power system is not compromised. The proposed FTC system is implemented as a LabVIEW virtual instrument (VI) and evaluated in virtual (simulated) and real-world environments. The proposed FTC module can be used for open frame ROVs with up to 12 thrusters: eight horizontal thrusters configured in two horizontal layers of four thrusters each, and four vertical thrusters configured in one vertical layer. Results from both environments show that the ROV control system, enhanced with the FDI and FA subsystems, is capable of maintaining full 6 DOF control of ROV in the presence of up to 6 simultaneous total faults in the thrusters. With the FDI and FA subsystems in place the control energy distribution of the healthy thrusters is optimised so that the ROV can still operate in difficult conditions under fault scenarios.

scholarly journals Active versus passive fault-tolerant control of a redundant multirotor UAV

2019 ◽  
Vol 124 (1273) ◽  
pp. 385-408
Author(s):  
M. Saied ◽  
B. Lussier ◽  
I. Fantoni ◽  
H. Shraim ◽  
C. Francis
Keyword(s):  
Fault Tolerance ◽  
Fault Detection ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
Detection Scheme ◽  
Redundancy Management ◽  
Model Free

ABSTRACTThis paper considers actuator redundancy management for a redundant multirotor Unmanned Aerial Vehicle (UAV) under actuators failures. Different approaches are proposed: using robust control (passive fault tolerance), and reconfigurable control (active fault tolerance). The robust controller is designed using high-order super-twisting sliding mode techniques, and handles the failures without requiring information from a Fault Detection scheme. The Active Fault-Tolerant Control (AFTC) is achieved through redistributing the control signals among the healthy actuators using reconfigurable multiplexing and pseudo-inverse control allocation. The Fault Detection and Isolation problem is also considered by proposing model-based and model-free modules. The proposed techniques are all implemented on a coaxial octorotor UAV. Different experiments with different scenarios were conducted for the validation of the proposed strategies. Finally, advantages, disadvantages, application considerations and limitations of each method are examined through quantitative and qualitative studies.

Model-based fault-tolerant control for an automotive air suspension control system

2011 ◽  
Vol 225 (11) ◽  
pp. 1462-1480 ◽  
Author(s):  
Hyunsup Kim ◽  
Hyeongcheol Lee
Keyword(s):  
Control System ◽  
Fault Detection ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
Model Based ◽  
System A ◽  
Air Suspension ◽  
Proposed Model ◽  
Suspension Control

This paper presents a new fault-tolerant control (FTC) algorithm for an automotive air suspension control (ASC) system. The FTC algorithm proposed in this paper provides the fault detection, diagnosis, and management of a closed-loop air suspension control system. A new model-based fault detection and isolation algorithm for the height sensors, which are critical but vulnerable components of the ASC system, is also proposed. The height sensor fault is detected on the basis of the geometric relationships of the suspension and is isolated by implementing the analytical redundancy of the height sensors using roll and pitch angle estimates derived by a Kalman filter. An adaptive threshold is designed and applied in order to enhance the robustness of the fault detection and isolation against model uncertainties. The effectiveness of the proposed model-based FTC algorithm is verified via simulation and actual vehicle tests.

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.

scholarly journals Active Fault-Tolerant Control Based on Multiple Input Multiple Output-Model Free Adaptive Control for Four Wheel Independently Driven Electric Vehicle Drive System

2019 ◽  
Vol 9 (2) ◽  
pp. 276 ◽  
Author(s):  
Yugong Luo ◽  
Yun Hu ◽  
Fachao Jiang ◽  
Rui Chen ◽  
Yongsheng Wang
Keyword(s):  
Control System ◽  
Active Fault ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Drive System ◽  
Input Output ◽  
Vehicle Model ◽  
Model Free ◽  
Active Fault Tolerant Control

To solve the problems with the existing active fault-tolerant control system, which does not consider the cooperative control of the drive system and steering system or accurately relies on the vehicle model when one or more motors fail, a multi-input and multi-output model-free adaptive active fault-tolerant control method for four-wheel independently driven electric vehicles is proposed. The method, which only uses the input/output data of the vehicle in the control system design, is based on a new dynamic linearization technique with a pseudo-partial derivative, aimed at solving the complex and nonlinear issues of the vehicle model. The desired control objectives can be achieved by the coordinated adaptive fault-tolerant control of the drive and steering systems under different failure conditions of the drive system. The error convergence and input-output boundedness of the control system are proven by means of stability analysis. Finally, simulations and further experiments are carried out to validate the effectiveness and real-time response of the fault-tolerant system in different driving scenarios. The results demonstrate that our proposed approach can maintain the longitudinal speed error (within 3%) and lateral stability, thereby improving the safety of the vehicles.

scholarly journals Supervisory fault tolerant control with integrated fault detection and isolation: A switched system approach

2012 ◽  
Vol 22 (1) ◽  
pp. 87-97 ◽  
Author(s):  
Hao Yang ◽  
Bin Jiang ◽  
Vincent Cocquempot ◽  
Lingli Lu
Keyword(s):  
Fault Detection ◽  
System Approach ◽  
Fault Tolerant ◽  
Control Design ◽  
Fault Tolerant Control ◽  
Switched System ◽  
Fault Detection And Isolation ◽  
Finite Cover ◽  
Switching Law

Supervisory fault tolerant control with integrated fault detection and isolation: A switched system approachThis paper focuses on supervisory fault tolerant control design for a class of systems with faults ranging over a finite cover. The proposed framework is based on a switched system approach, and relies on a supervisory switching within a family of pre-computed candidate controllers without individual fault detection and isolation schemes. Each fault set can be accommodated either by one candidate controller or by a set of controllers under an appropriate switching law. Two aircraft examples are included to illustrate the efficiency of the proposed method.

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