scholarly journals Fault Tolerant Control of Vehicle Lateral Dynamic Using a New Pneumatic Forces Multiple Model

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 120
Author(s):  
Imane Abzi ◽  
Mohammed Nabil Kabbaj ◽  
Mohammed Benbrahim
Keyword(s):  
Fault Tolerant ◽  
Longitudinal Velocity ◽  
Fault Tolerant Control ◽  
Small Variation ◽  
Linear Matrix ◽  
Multiple Model ◽  
Control Scheme ◽  
Sufficient Stability ◽  
Vehicle Dynamic Model ◽  
Takagi Sugeno

This paper presents a new accurate multiple model of nonlinear pneumatic lateral forces. The bicycle representation is used in order to build up an easy implemented vehicle dynamic model. Moreover, the Takagi–Sugeno fuzzy approach is applied in order to handle the vehicle model nonlinearities. This structure allows for taking into account the small variation of the vehicle longitudinal velocity. Subsequently, a Fault Tolerant Control strategy that is based on a bank of fuzzy Luenberger observers is proposed. The robustness of the control scheme against external noises is guaranteed by applying H∞ performance. Sufficient stability conditions that are based on Lyapunov method are formulated as Linear Matrix Inequality. Thus, allowing the computation of the observers’ and the controllers’ gains by using MATLAB. Finally, the simulation examples are performed to show the effectiveness of our proposal.

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.

A predictive fault-tolerant control scheme for Takagi-Sugeno fuzzy systems*

2011 ◽  
Vol 44 (1) ◽  
pp. 4684-4689 ◽  
Author(s):  
Łukasz Dziekan ◽  
Marcin Witczak ◽  
Józef Korbicz
Keyword(s):  
Fuzzy Systems ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Scheme ◽  
Takagi Sugeno

scholarly journals Robust qLPV Tracking Fault-Tolerant Control of a 3 DOF Mechanical Crane

2020 ◽  
Vol 25 (3) ◽  
pp. 48
Author(s):  
Francisco-Ronay López-Estrada ◽  
Oscar Santos-Estudillo ◽  
Guillermo Valencia-Palomo ◽  
Samuel Gómez-Peñate ◽  
Carlos Hernández-Gutiérrez
Keyword(s):  
Tracking Control ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Linear Matrix ◽  
Actuator Faults ◽  
Linear Parameter Varying ◽  
Performance Requirements ◽  
Control Scheme ◽  
Control Objective ◽  
Three Degree Of Freedom

The main aim of this paper is to propose a robust fault-tolerant control for a three degree of freedom (DOF) mechanical crane by using a convex quasi-Linear Parameter Varying (qLPV) approach for modeling the crane and a passive fault-tolerant scheme. The control objective is to minimize the load oscillations while the desired path is tracked. The convex qLPV model is obtained by considering the nonlinear sector approach, which can represent exactly the nonlinear system under the bounded nonlinear terms. To improve the system safety, tolerance to partial actuator faults is considered. Performance requirements of the tracking control system are specified in an H∞ criteria that guarantees robustness against measurement noise, and partial faults. As a result, a set of Linear Matrix Inequalities is derived to compute the controller gains. Numerical experiments on a realistic 3 DOF crane model confirm the applicability of the control scheme.

scholarly journals Robust Fault Estimation and Fault-Tolerant Control Based on Sliding Mode Observer for Takagi–Sugeno Fuzzy Systems Subject to Actuator and Sensor Faults

2020 ◽  
Vol 9 (8) ◽  
pp. 145-154
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Fault Tolerant Control ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Observer ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Takagi Sugeno

In this paper, the problems of fault estimation and fault-tolerant control for Takagi-Sugeno fuzzy system affected by simultaneous actuator faults, sensor faults and external disturbances are investigated. Firstly, an adaptive fuzzy sliding-mode observer is designed to simultaneously estimate system states and both actuator and sensor faults. Then, based on the online estimation information, a static output feedback fault-tolerant controller is designed to compensate for the effect of faults and to stabilize the closed-loop system. Moreover, sufficient conditions for the existence of the proposed observer and controller with an H∞ performance are derived based on Lyapunov stability theory and expressed in terms of linear matrix inequalities. Finally, a nonlinear inverted pendulum with cart system application is given illustrate the validity of the proposed method.

scholarly journals Integrated Fault Estimation and Fault-Tolerant Control for Dynamic Positioning of Ships

2019 ◽  
Vol 2019 ◽  
pp. 1-15
Author(s):  
Xiaogong Lin ◽  
Heng Li ◽  
Anzuo Jiang ◽  
Juan Li
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Matching Condition ◽  
High Gain ◽  
Iterative Learning ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Dynamic Positioning ◽  
Control Scheme ◽  
Observer Matching Condition

An integrated fault estimation and fault-tolerant control scheme is developed in this paper for dynamic positioning of ships in the presence of an actuator fault. First, an auxiliary derivative output of dynamic positioning ships is constructed in order to satisfy the so-called observer matching condition, and a high-gain observer is designed to exactly estimate the auxiliary derivative outputs. Then, a fault-tolerant controller is developed for dynamic positioning ships based on the iterative learning observer. By means of Lyapunov–Krasovskii stability theory, it is proved that the proposed fault-tolerant controller is able to estimate the total fault effects and states of ships accurately via the iterative learning observer and also to stabilize the closed-loop system. In addition, the parameter design of the proposed fault-tolerant control system can be conveniently solved in terms of linear matrix inequalities. Finally, simulation studies for dynamic positioning ships with actuator faults are carried out, and the results validate the effectivity of the proposed fault-tolerant control scheme.

A fault-tolerant control scheme within adaptive disturbance observer for hypersonic vehicle

2017 ◽  
Vol 233 (3) ◽  
pp. 1071-1088 ◽  
Author(s):  
Jun Zhou ◽  
Jing Chang ◽  
Zongyi Guo
Keyword(s):  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Performance Guarantees ◽  
Uncertain Model ◽  
Control Scheme ◽  
And Performance

The paper describes the design of a fault-tolerant control scheme for an uncertain model of a hypersonic reentry vehicle subject to actuator faults. In order to improve superior transient performances for state tracking, the proposed method relies on a back-stepping sliding mode controller combined with an adaptive disturbance observer and a reference vector generator. This structure allows for a faster response and reduces the overshoots compared to linear conventional disturbance observers based sliding mode controller. Robust stability and performance guarantees of the overall closed-loop system are obtained using Lyapunov theory. Finally, numerical simulations results illustrate the effectiveness of the proposed technique.

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