scholarly journals Virtual Actuator Design for Uncertain Metzler Systems

2021 ◽  
Vol 2 ◽  
Author(s):  
Dušan Krokavec ◽  
Anna Filasová
Keyword(s):  
Fault Tolerant ◽  
Interval Uncertainty ◽  
Linear Matrix ◽  
Actuator Faults ◽  
Closed Loop System ◽  
Matrix Representations ◽  
Output Control ◽  
Control Structures ◽  
Actuator Design ◽  
Static Output

The paper presents the design conditions adequate in design of virtual actuators and utilizable by nominal static output control structures in fault-tolerant control for strictly Metzler systems. The positive stabilization with H∞ norm performance is also addressed for virtual actuator design for strictly Metzler systems with interval uncertainty matrix representations of single actuator faults. Taking into account disturbance conditions and changes of values of variables after the virtual actuator activation, the design conditions are outlined in the terms of linear matrix inequalities. The approach provides a way to obtain acceptable dynamics of the closed loop system after virtual actuator activation.

scholarly journals FTC with Dynamic Virtual Actuators: Characterization via Dynamic Output Controllers andH∞Approach

2015 ◽  
Vol 2015 ◽  
pp. 1-16 ◽  
Author(s):  
Dušan Krokavec ◽  
Anna Filasová ◽  
Vladimír Serbák
Keyword(s):  
Fault Tolerant ◽  
Tuning Parameter ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Control Structures ◽  
Output Controller ◽  
Bounded Real Lemma ◽  
Dynamic Output ◽  
Control Scheme ◽  
Time Linear

The paper presents new conditions, adequate in design of dynamic virtual actuators and utilizable in fault-tolerant control structures (FTC) for continuous-time linear systems, which are stabilizable by dynamic output controllers. Taking into account disturbance conditions and changes of variables in FTC after virtual actuator activation and applying the nominal control scheme relating to the biproper dynamic output controller of prescribed order, the design conditions are outlined in terms of the linear matrix inequalities within the enhanced bounded real lemma forms. Using a free tuning parameter in design, and with suitable choice of the controller order, the approach provides the way to obtain acceptable dynamics of the closed-loop system after activation of the dynamic virtual actuator.

scholarly journals A Robust Fault-Tolerant Predictive Control for Discrete-Time Linear Systems Subject to Sensor and Actuator Faults

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2307
Author(s):  
Sofiane Bououden ◽  
Ilyes Boulkaibet ◽  
Mohammed Chadli ◽  
Abdelaziz Abboudi
Keyword(s):  
Model Predictive Control ◽  
Linear Systems ◽  
Predictive Control ◽  
Robust Stability ◽  
Discrete Time ◽  
Fault Tolerant ◽  
Linear Matrix ◽  
Input Constraints ◽  
Actuator Faults ◽  
Time Linear

In this paper, a robust fault-tolerant model predictive control (RFTPC) approach is proposed for discrete-time linear systems subject to sensor and actuator faults, disturbances, and input constraints. In this approach, a virtual observer is first considered to improve the observation accuracy as well as reduce fault effects on the system. Then, a real observer is established based on the proposed virtual observer, since the performance of virtual observers is limited due to the presence of unmeasurable information in the system. Based on the estimated information obtained by the observers, a robust fault-tolerant model predictive control is synthesized and used to control discrete-time systems subject to sensor and actuator faults, disturbances, and input constraints. Additionally, an optimized cost function is employed in the RFTPC design to guarantee robust stability as well as the rejection of bounded disturbances for the discrete-time system with sensor and actuator faults. Furthermore, a linear matrix inequality (LMI) approach is used to propose sufficient stability conditions that ensure and guarantee the robust stability of the whole closed-loop system composed of the states and the estimation error of the system dynamics. As a result, the entire control problem is formulated as an LMI problem, and the gains of both observer and robust fault-tolerant model predictive controller are obtained by solving the linear matrix inequalities (LMIs). Finally, the efficiency of the proposed RFTPC controller is tested by simulating a numerical example where the simulation results demonstrate the applicability of the proposed method in dealing with linear systems subject to faults in both actuators and sensors.

Adaptive neural fault-tolerant control for course tracking of unmanned surface vehicle with event-triggered input

2021 ◽  
pp. 095965182110131
Author(s):  
Guoqing Zhang ◽  
Shen Gao ◽  
Jiqiang Li ◽  
Weidong Zhang
Keyword(s):  
Neural Control ◽  
Fault Tolerant ◽  
Lyapunov Stability Theory ◽  
Actuator Faults ◽  
Closed Loop System ◽  
External Disturbances ◽  
Unmanned Surface Vehicle ◽  
Adaptive Parameters ◽  
Control Gain ◽  
Event Triggered

This study investigates the course-tracking problem for the unmanned surface vehicle in the presence of constraints of the actuator faults, control gain uncertainties, and environmental disturbance. A novel event-triggered robust neural control algorithm is proposed by fusing the robust neural damping technique and the event-triggered input mechanism. In the algorithm, no prior information of the system model about the unknown yawing dynamic parameters and unknown external disturbances is required. The transmission burden between the controller and the actuator could be relieved. Moreover, the control gain-related uncertainties and the unknown actuator faults are compensated through two updated online adaptive parameters. Sufficient effort has been made to verify the semi-global uniform ultimate bounded stability for the closed-loop system based on Lyapunov stability theory. Finally, simulation results are presented to illustrate the effectiveness and superiority of the proposed algorithm.

A finite-time H-infinite adaptive fault-tolerant controller considering time delay for flutter suppression of airfoil flutter

2019 ◽  
Vol 234 (2) ◽  
pp. 293-307
Author(s):  
Gao Ming-Zhou ◽  
Chen Xin-Yi ◽  
Han Rong ◽  
Yao Jian-Yong
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Controller Design ◽  
Fault Tolerant ◽  
Linear Matrix ◽  
Control Methods ◽  
Actuator Faults ◽  
Control Delay ◽  
Modeling Uncertainties ◽  
The Stability

To suppress airfoil flutter, a lot of control methods have been proposed, such as classical control methods and optimal control methods. However, these methods did not consider the influence of actuator faults and control delay. This paper proposes a new finite-time H∞ adaptive fault-tolerant flutter controller by radial basis function neural network technology and adaptive fault-tolerant control method, taking into account actuator faults, control delay, modeling uncertainties, and external disturbances. The theoretic section of this paper is about airfoil flutter dynamic modeling and adaptive fault-tolerant controller design. Lyapunov function and linear matrix inequality are employed to prove the stability of the proposed control method of this paper. The numeral simulation section further proves the effectiveness and robustness of the proposed control algorithm of this paper.

scholarly journals Fault Tolerant Control Design For Polytopic LPV Systems

2007 ◽  
Vol 17 (1) ◽  
pp. 27-37 ◽  
Author(s):  
Mickael Rodrigues ◽  
Didier Theilliol ◽  
Samir Aberkane ◽  
Dominique Sauter
Keyword(s):  
Output Feedback ◽  
Fault Tolerant ◽  
Output Feedback Control ◽  
Control Design ◽  
Fault Tolerant Control ◽  
Necessary Condition ◽  
Linear Matrix ◽  
Linear Parameter Varying ◽  
Lpv Systems ◽  
Static Output

Fault Tolerant Control Design For Polytopic LPV SystemsThis paper deals with a Fault Tolerant Control (FTC) strategy for polytopic Linear Parameter Varying (LPV) systems. The main contribution consists in the design of a Static Output Feedback (SOF) dedicated to such systems in the presence of multiple actuator faults/failures. The controllers are synthesized through Linear Matrix Inequalities (LMIs) in both fault-free and faulty cases in order to preserve the system closed-loop stability. Hence, this paper provides a new sufficient (but not necessary) condition for the solvability of the stabilizing output feedback control problem. An example illustrates the effectiveness and performances of the proposed FTC method.

Robust fault-tolerant control design for hypersonic vehicle with input saturation and actuator faults

2021 ◽  
pp. 095441002110412
Author(s):  
Zhong-Zhe Yue ◽  
Jing-Guang Sun
Keyword(s):  
Feedback Linearization ◽  
Fault Tolerant ◽  
Input Saturation ◽  
Lyapunov Stability Theory ◽  
Hypersonic Vehicle ◽  
Actuator Faults ◽  
Closed Loop System ◽  
External Disturbances ◽  
Longitudinal Tracking ◽  
Tangent Function

This study investigates the flight longitudinal tracking control problem of hypersonic vehicle in presence of the input saturation, external disturbances, model parametric uncertainties, and actuator faults. First, the velocity and altitude subsystem are established with disturbances based on the feedback linearization model. Second, two robust anti-saturation fault-tolerant controllers are designed for the velocity subsystem and altitude subsystem by the utilization of the tangent function, Nussbaum function, and adaptive nonlinear filter. Finally, Lyapunov stability theory is used to prove that the states of the closed-loop system are bounded. And, the effectiveness and robustness of the control strategy are proved by numerical simulations.

Robust fault tolerant control based on adaptive observer for Takagi-Sugeno fuzzy systems with sensor and actuator faults: Application to single-link manipulator

2020 ◽  
Vol 42 (12) ◽  
pp. 2308-2323
Author(s):  
Salama Makni ◽  
Maha Bouattour ◽  
Ahmed El Hajjaji ◽  
Mohamed Chaabane
Keyword(s):  
Controller Design ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Single Step ◽  
Adaptive Observer ◽  
Linear Matrix ◽  
Actuator Faults ◽  
Single Link ◽  
Comparative Results ◽  
Takagi Sugeno

In this work, we investigate the problem of control for nonlinear systems represented by Takagi-Sugeno (T-S) fuzzy models affected by both sensor and actuator faults subject to an unknown bounded disturbances (UBD). For this, we design an adaptive observer to estimate state, sensor and actuator fault vectors simultaneously despite the presence of external disturbances. Based on this observer, we develop a fault tolerant control (FTC) law not only to stabilize closed loop system, but also to compensate the fault effects. For the observer-based controller design, we propose less conservative conditions formulated in terms of linear matrix inequalities (LMIs). Moreover, both observer and controller gains are calculated via solving a set of LMIs only in single step. Finally, comparative results and an application to single-link flexible joint robot are afforded to prove the efficiency of the proposed design.

Robust attitude fault-tolerant control for unmanned autonomous helicopter with flapping dynamics and actuator faults

2018 ◽  
Vol 41 (5) ◽  
pp. 1266-1277 ◽  
Author(s):  
Kun Yan ◽  
Mou Chen ◽  
Qiangxian Wu ◽  
Ke Lu
Keyword(s):  
Closed Loop ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Loop System ◽  
System Stability ◽  
Actuator Faults ◽  
Closed Loop System ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Autonomous Helicopter

In this paper, an adaptive robust fault-tolerant control scheme is developed for attitude tracking control of a medium-scale unmanned autonomous helicopter with rotor flapping dynamics, external unknown disturbances and actuator faults. For the convenience of control design, the actuator dynamics with respect to the tail rotor are introduced. The adaptive fault observer and robust item are employed to observe the actuator faults and eliminate the effect of external disturbances, respectively. A backstepping-based robust fault-tolerant control scheme is designed with the aim of obtaining satisfactory tracking performance and closed-loop system stability is proved via Lyapunov analysis, which guarantees the convergence of all closed-loop system signals. Simulation results are given to show the effectiveness of the proposed control method.

Robust Fault Tolerant Control for Spacecraft Attitude Stabilization Under Actuator Faults and Bounded Disturbance

2011 ◽  
Vol 133 (5) ◽  
Author(s):  
Bing Xiao ◽  
Qinglei Hu ◽  
Michael I. Friswell
Keyword(s):  
Closed Loop ◽  
Fault Tolerant ◽  
Fault Detection And Isolation ◽  
Spacecraft Attitude ◽  
Actuator Faults ◽  
Closed Loop System ◽  
External Disturbances ◽  
Attitude Stabilization ◽  
Bounded Disturbance ◽  
Loss Of Actuator Effectiveness

This paper investigates the design of spacecraft attitude stabilization controllers that are robust against actuator faults and external disturbances. A nominal controller is developed initially, using the adaptive backstepping technique, to stabilize asymptotically the spacecraft attitude when the actuators are fault-free. Additive faults and the partial loss of actuator effectiveness are considered simultaneously and an auxiliary controller is designed in addition to the nominal controller to compensate for the system faults. This auxiliary controller does not use any fault detection and isolation mechanism to detect, separate, and identify the actuator faults online. The attitude orientation and angular velocity of the closed-loop system asymptotically converge to zero despite actuator faults providing the nominal attitude system is asymptotically stable. Numerical simulation results are presented that demonstrate the closed-loop performance benefits of the proposed control law and illustrate its robustness to external disturbances and actuator faults.

Study on Fault-Tolerant Control Scheme for a Helicopter via Adaptive H∞ Control

2013 ◽  
Vol 455 ◽  
pp. 395-401 ◽  
Author(s):  
Xi Chen ◽  
Fu Yang Chen ◽  
Bin Jiang
Keyword(s):  
State Feedback ◽  
Fault Tolerant ◽  
Adaptive Method ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Flight Performance ◽  
Actuator Faults ◽  
Stabilization Problem ◽  
Control Scheme ◽  
Tolerant State

In this paper, the stabilization problem for the 3 Degree of Freedom (3-DOF) hovering system of Quadrotor with actuator faults is investigated. To handle the helicopter system, an H robust fault-tolerant state feedback control is proposed. In addition, an adaptive method is combined with fault-tolerant H control to improve the flight performance. A more practical actuator fault is built, and the model of the system is presented. The design operates in Linear Matrix Inequality (LMI) technique. Finally, the design was verified on both MATLAB and 3-DOF platform to exam the feasibility and stability of the method.

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