scholarly journals Multivariable Robust Fault Tolerant Control For Work-Class Remotely Operated Vehicle

2017 ◽  
Vol 61 (2) ◽  
pp. 87
Author(s):  
Zhaoqiang Wang ◽  
Zhen Wang ◽  
Mingen Wu ◽  
Yiping Luo
Keyword(s):  
Disturbance Rejection ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Adaptive Sliding Mode Control ◽  
Partial Loss ◽  
Remotely Operated Vehicle ◽  
Trajectory Tracking Control ◽  
Work Class

To deal with complex disturbances and the presence of partial loss of propeller effectiveness in work-class remotely operated vehicles (ROVs), a method of robust fault tolerant control is proposed, which is based on adaptive sliding mode control. In this approach, adaptive technique is employed to estimate the bounds’ information of external complex disturbances and the effectiveness loss of the propeller. And a sliding mode controller is then designed to achieve fault tolerant control and external disturbance rejection. Corresponding stability of the closed-loop control system is analyzed using Lyapunov stability theory. Apply this method to trajectory tracking control of work-class ROVs, the simulation results validate that great fault tolerant capability and a good performance of external disturbance rejection can be achieved even under partial loss of propeller effectiveness.

scholarly journals A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator Fault

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Jing Zhao ◽  
Sen Jiang ◽  
Fei Xie ◽  
Zhen He ◽  
Jian Fu
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Actuator Fault ◽  
Adaptive Technology ◽  
Control Scheme ◽  
Simulation Results

A fault tolerant control (FTC) scheme based on adaptive sliding mode control technique is proposed for manipulator with actuator fault. Firstly, the dynamic model of manipulator is introduced and its actuator faulty model is established. Secondly, a fault tolerant controller is designed, in which both the parameters of actuator fault and external disturbance are estimated and updated by online adaptive technology. Finally, taking a two-joint manipulator as example, simulation results show that the proposed fault tolerant control scheme is effective in tolerating actuator fault; meanwhile it has strong robustness for external disturbance.

scholarly journals Robust Adaptive Sliding Mode Fault Tolerant Control for Nonlinear System with Actuator Fault and External Disturbance

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Liang Zheng ◽  
Xuelian Dong ◽  
Qian Luo ◽  
Menglan Zeng ◽  
Xinping Yang ◽  
...  
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Estimation Errors ◽  
Adaptive Sliding Mode ◽  
Sliding Motion ◽  
Robust Adaptive

In this paper, an adaptive sliding mode fault tolerant control (ASMFTC) approach is proposed for a class of nonlinear systems with actuator fault, uncertainty, and external disturbance. Specifically, first, a novel observer is proposed to estimate the state, actuator fault, and external disturbance. Then, by utilising the observed information, a novel output sliding mode observer is constructed. In the control method, an adaptive law and two compensators are designed to attenuate the unknown estimation errors, actuator fault, and disturbance. Furthermore, the reaching ability of the sliding motion is analysed and the H-infinite performance is introduced to ensure the robustness of the system. Finally, a flexible single joint manipulator system and a two-cart system are used to verify the effectiveness of the proposed method.

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.

Adaptive Sliding Mode Control for Depth Trajectory Tracking of Remotely Operated Vehicle with Thruster Nonlinearity

2016 ◽  
Vol 70 (1) ◽  
pp. 149-164 ◽  
Author(s):  
Zhenzhong Chu ◽  
Daqi Zhu ◽  
Simon X. Yang ◽  
Gene Eu Jan
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Dead Zone ◽  
Adaptive Sliding Mode Control ◽  
Remotely Operated Vehicle ◽  
Trajectory Tracking Control ◽  
Adaptive Sliding Mode ◽  
Saturation Nonlinearity ◽  
Mode Control

This paper focuses on depth trajectory tracking control for a Remotely Operated Vehicle (ROV) with dead-zone nonlinearity and saturation nonlinearity of thruster; an adaptive sliding mode control method based on neural network is proposed. Through the analysis of dead-zone nonlinearity and saturation nonlinearity of thruster, the depth trajectory tracking control system model of a ROV which uses thruster control signals as system input has been established. According to the principle of sliding mode control, an adaptive sliding mode depth trajectory tracking controller is built by using three-layer feed-forward neural network for online identification of unknown items. The selection method and update laws of the control parameters are also given. The uniform ultimate boundedness of trajectory tracking error is analysed by Lyapunov theorem. Finally, the effectiveness of the proposed method is illustrated by simulations.

scholarly journals Fault-tolerant Control of Quadcopter UAVs Using Robust Adaptive Sliding Mode Approach

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 95 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Sung Kyung Hong
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Adaptive Sliding Mode Control ◽  
Actuator Faults ◽  
Adaptive Sliding Mode ◽  
System Uncertainties ◽  
Robust Adaptive

In this paper, a fault-tolerant control method is proposed for quadcopter unmanned aerial vehicles (UAV) to account for system uncertainties and actuator faults. A mathematical model of the quadcopter UAV is first introduced when faults occur in actuators. A normal adaptive sliding mode control (NASMC) approach is proposed as a baseline controller to handle the chattering problem and system uncertainties, which does not require information of the upper bound. To improve the performance of the NASMC scheme, radial basis function neural networks are combined with an adaptive scheme to make a quick compensation in presence of system uncertainties and actuator faults. The Lyapunov theory is applied to verify the stability of the proposed methods. The effectiveness of modified ASMC algorithm is compared with that of NASMC using numerical examples under different faulty conditions.

Fault tolerant control with disturbance estimator for a class of linear parameter varying systems subject to time-varying fault

2019 ◽  
Vol 41 (13) ◽  
pp. 3836-3846 ◽  
Author(s):  
Chunsheng Liu ◽  
Ke Lu ◽  
Jingliang Sun ◽  
Jiao Dai
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Time Varying ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Parameter Varying ◽  
Disturbance Estimator

This paper proposes a sliding-mode control (SMC) scheme for a class of linear parameter varying (LPV) systems subject to a loss of control effectiveness and external disturbance. The LPV model is transformed into the non-LPV model representation. The updating law for unknown time-varying fault and the disturbance estimator are designed. The novel sliding-mode fault tolerant control (FTC) law is presented by using estimated fault and estimated disturbance to compensate the effects of faults in both cases: the known and the partial known system matrices. The stability analysis of closed-loop system is performed on the Lyapunov theory. The main advantage of the proposed method is to circumvent solving on-line parameter-dependent nonlinear matrix inequalities, also to adapt to the changes of unknown parameter. The feasibility of the approach is illustrated by means of the simulation examples.

scholarly journals An adaptive sliding mode actuator fault tolerant control scheme for octorotor system

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983243 ◽  
Author(s):  
Fatima Ejaz ◽  
Mirza Tariq Hamayun ◽  
Shariq Hussain ◽  
Salman Ijaz ◽  
Shunkun Yang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Adaptive Sliding Mode Control ◽  
Actuator Faults ◽  
Control Approach ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme

In this article, an adaptive sliding mode control is used in the framework of fault tolerant control to mitigate the effects of actuator faults without requiring the actuator health information. Since unmanned aerial vehicles are being used in multiple fields such as military, surveillance, media, agriculture, communication and trading sector, therefore it is of vital importance to overcome the effects of actuator faults that can decline system performance and can even lead to some serious accidents. The proposed adaptive sliding mode control approach can handle actuator faults directly without requiring any faults information and adaptively adjusts controller gains to maintain acceptable level of performance. To validate the effectiveness of the proposed adaptive fault tolerant control scheme, it has been tested in simulations using non-linear Benchmark model of Octorotor system and its performance is compared with the optimal LQR control approach.

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