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.

Active fault-tolerant control for vertical tail damaged aircraft with dissimilar redundant actuation system using integral sliding mode control

2018 ◽  
Vol 233 (7) ◽  
pp. 2361-2378 ◽  
Author(s):  
Salman Ijaz ◽  
Mirza T Hamayun ◽  
Lin Yan ◽  
Cun Shi
Keyword(s):  
Actuator Saturation ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Fault Estimation ◽  
Redundant Actuation ◽  
Severe Damage ◽  
Integral Sliding Mode ◽  
Actuation System ◽  
Electrohydraulic Actuator

The research about the dissimilar redundant actuation system has indicated the potential fault-tolerant capability in modern aircraft. This paper proposed a new design methodology to achieve fault-tolerant control of an aircraft equipped with dissimilar actuators and is suffered from vertical tail damage. The proposed design is based on the concept of online control allocation to redistribute the control signals among healthy actuators and integral sliding mode controller is designed to achieve the closed-loop stability in the presence of both component and actuator faults. To cope with severe damage condition, the aircraft is equipped with dissimilar actuators (hydraulic and electrohydraulic actuators). In this paper, the performance degradation due to slower dynamics of electrohydraulic actuator is taken in account. Therefore, the feed-forward compensator is designed for electrohydraulic actuator based on fractional-order control strategy. In case of failure of hydraulic actuator subject to severe damage of vertical tail, an active switching mechanism is developed based on the information of fault estimation unit. Additionally, a severe type of actuator failure so-called actuator saturation or actuator lock in place is also taken into account in this work. The proposed strategy is compared with the existing control strategies in the literature. Simulation results indicate the dominant performance of the proposed scheme. Moreover, the proposed controller is found robust with a certain level of mismatch between the actuator effectiveness level and its estimate.

Adaptive fault-tolerant control for active suspension systems based on the terminal sliding mode approach

2019 ◽  
Vol 234 (2) ◽  
pp. 501-511
Author(s):  
Amirhossein Kazemipour ◽  
Alireza B Novinzadeh
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Active Suspension ◽  
Suspension System ◽  
Terminal Sliding Mode ◽  
Car Suspension ◽  
Suspension Model

In this paper, a control system is designed for a vehicle active suspension system. In particular, a novel terminal sliding-mode-based fault-tolerant control strategy is presented for the control problem of a nonlinear quarter-car suspension model in the presence of model uncertainties, unknown external disturbances, and actuator failures. The adaptation algorithms are introduced to obviate the need for prior information of the bounds of faults in actuators and uncertainties in the model of the active suspension system. The finite-time convergence of the closed-loop system trajectories is proved by Lyapunov's stability theorem under the suggested control method. Finally, detailed simulations are presented to demonstrate the efficacy and implementation of the developed control strategy.

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.

Active Fault Tolerant Control Based on Fault Estimation

2014 ◽  
Vol 635-637 ◽  
pp. 1199-1202 ◽  
Author(s):  
Zheng Gao Hu ◽  
Guo Rong Zhao ◽  
Da Wang Zhou
Keyword(s):  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Sliding Mode Observer ◽  
Fault Estimation ◽  
Control Law ◽  
Active Fault Tolerant Control ◽  
The Stability ◽  
Twisting Algorithm

For the chattering problem in the traditional sliding mode observer-based fault estimation, a second order sliding mode observer based on the Super-twisting algorithm was proposed. In order to avoid the cumbersome process of proving the stability of the Super-twisting algorithm, a Lyapunov function was adopted. An active fault tolerant control law was designed based on the fault estimation. Finally, simulation show the effectiveness of the proposed approach.

Adaptive fault tolerant control of dissimilar redundant actuation system of civil aircraft based on integral sliding mode control strategy

2019 ◽  
Vol 41 (13) ◽  
pp. 3756-3768 ◽  
Author(s):  
Salman Ijaz ◽  
Mirza Tariq Hamayun ◽  
Lin Yan ◽  
Hamdoon Ijaz ◽  
Cun Shi
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Redundant Actuation ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Actuation System ◽  
Civil Aircraft

In modern aircraft, the dissimilar redundant actuation system is used to resolve the actuator failure issues due to the common cause, thus increasing the system reliability. This paper proposes an adaptive integral sliding mode fault tolerant control strategy to deal with actuator fault/failure in the dissimilar redundant actuation system of civil aircraft. To cope with the unknown actuator faults, the adaptive integral sliding mode controller is designed where the modulation gain is made adaptive to the fault. To deal with the complete failure of certain actuator, the integral sliding mode control is integrated with control allocation scheme and distribute the control input signals to the redundant actuators. The performance of the proposed scheme is tested on the nonlinear model of dissimilar redundant actuation system, where the effect of external airload is accounted during simulations. The effectiveness of the proposed scheme is validated by comparing the simulations with the existing literature.

scholarly journals Active Fault-Tolerant Control of a Quadcopter against Time-Varying Actuator Faults and Saturations Using Sliding Mode Backstepping Approach

2019 ◽  
Vol 9 (19) ◽  
pp. 4010 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Sung Kyung Hong
Keyword(s):  
Fault Diagnosis ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Fault Estimation ◽  
Time Varying ◽  
Actuator Faults ◽  
Active Fault Tolerant Control

Fault-tolerant control is becoming an interesting topic because of its reliability and safety. This paper reports an active fault-tolerant control method for a quadcopter unmanned aerial vehicle (UAV) to handle actuator faults, disturbances, and input constraints. A robust fault diagnosis based on the H ∞ scheme was designed to estimate the magnitude of a time-varying fault in the presence of disturbances with unknown upper bounds. Once the fault estimation was complete, a fault-tolerant control scheme was proposed for the attitude system, using adaptive sliding mode backstepping control to accommodate the actuator faults, despite actuator saturation limitation and disturbances. The Lyapunov theory was applied to prove the robustness and stability of the closed-loop system under faulty operation. Simulation results show the effectiveness of the fault diagnosis scheme and proposed controller for handling actuator faults.

scholarly journals Advanced Adaptive Fault Diagnosis and Tolerant Control for Robot Manipulators

Energies ◽  
2019 ◽  
Vol 12 (7) ◽  
pp. 1281 ◽  
Author(s):  
Farzin Piltan ◽  
Cheol-Hong Kim ◽  
Jong-Myon Kim
Keyword(s):  
Fault Diagnosis ◽  
Fault Detection ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Sliding Surface ◽  
Surface Slope ◽  
Extended State ◽  
Mode Estimation ◽  
Fuzzy Sliding Mode

In this paper, an adaptive Takagi–Sugeno (T–S) fuzzy sliding mode extended autoregressive exogenous input (ARX)–Laguerre proportional integral (PI) observer is proposed. The proposed T–S fuzzy sliding mode extended-state ARX–Laguerre PI observer adaptively improves the reliability, robustness, estimation accuracy, and convergence of fault detection, estimation, and identification. For fault-tolerant control in the presence of uncertainties and unknown conditions, an adaptive fuzzy sliding mode estimation technique is introduced. The sliding surface slope gain is significant to improve the system’s stability, but the sliding mode technique increases high-frequency oscillation (chattering), which reduces the precision of the fault diagnosis and tolerant control. A fuzzy procedure using a sliding surface and actual output position as inputs can adaptively tune the sliding surface slope gain of the sliding mode fault-tolerant control technique. The proposed robust adaptive T–S fuzzy sliding mode estimation extended-state ARX–Laguerre PI observer was verified with six degrees of freedom (DOF) programmable universal manipulation arm (PUMA) 560 robot manipulator, proving qualified efficiency in detecting, isolating, identifying, and tolerant control for faults inherent in sensors and actuators. Experimental results showed that the proposed technique improves the reliability of the fault detection, estimation, identification, and tolerant control.

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