scholarly journals Fault-Tolerant Tracking Control for a Descriptor System under an Unknown Input Disturbances

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2247
Author(s):  
Norbert Kukurowski ◽  
Marcin Pazera ◽  
Marcin Witczak
Keyword(s):  
Tracking Control ◽  
Fault Tolerant ◽  
Control Process ◽  
Descriptor System ◽  
Unknown Input ◽  
Laboratory System ◽  
External Disturbances ◽  
Input Disturbance ◽  
Control Scheme ◽  
Estimation Scheme

The paper proposes a fault-tolerant tracking control scheme based on a robust observer for a descriptor system. Thus, it is assumed that the described system can be simultaneously occupied by an unknown input disturbance, along with an actuator and sensor faults. Additionally, it is natural to assume that the unknown input disturbance cannot be estimated, which makes the control process more difficult. Moreover, the proposed descriptor system is also occupied by external disturbances. Thus, the robust stability of the proposed control and estimation scheme was guaranteed by using H∞ performance. Consequently, the DC servo-motor laboratory system was used to confirm the correctness and effectiveness of the proposed fault-tolerant tracking control scheme.

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

2021 ◽  
pp. 095441002199954
Author(s):  
Dinesh D Dhadekar ◽  
S E Talole
Keyword(s):  
Flight Control ◽  
Tracking Control ◽  
Fault Tolerant ◽  
External Disturbances ◽  
Detection And Identification ◽  
Attitude Tracking ◽  
Fault Detection And Identification ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

Nonlinear Perfect Tracking Control for a Robot Arm with Uncertainties Using Operator-Based Robust Right Coprime Factorization Approach

2015 ◽  
Vol 27 (1) ◽  
pp. 49-56 ◽  
Author(s):  
Aihui Wang ◽  
◽  
Dongyun Wang ◽  
Haiquan Wang ◽  
Shengjun Wen ◽  
...  
Keyword(s):  
Tracking Control ◽  
Structural Parameters ◽  
Control System Design ◽  
Robot Arm ◽  
External Disturbances ◽  
Factorization Approach ◽  
Coprime Factorization ◽  
Tracking Condition ◽  
Control Scheme ◽  
Universal Stability

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/06.jpg"" width=""300"" />Plant uncertainties compensation</div> In this paper, a robust nonlinear perfect tracking control for a robot arm with uncertainties is proposed by using operator-based robust right coprime factorization approach. In general, there exist unknown modelling errors in measuring structural parameters of the robot arm and external disturbances in real situations. In the present control system design, the effect of the modelling errors and disturbances on the system performance is considered to be uncertainties of the robot arm dynamics. Considering the uncertainties, a robust nonlinear perfect tracking control using operator-based robust right coprime factorization is investigated. That is, first, considering the unknown uncertain plant generates limitations in obtaining the so-called universal stability and tracking conditions, the effect of uncertain plant is compensated by designed operator-based feedback control scheme. Second, a new perfect tracking condition is proposed for improving the trajectory of the robot arm. Finally, the effectiveness of the designed system is confirmed by simulation results. </span>

Asymptotic tracking control scheme for mechanical systems with external disturbances and friction

2010 ◽  
Vol 73 (7-9) ◽  
pp. 1293-1302 ◽  
Author(s):  
Lili Cui ◽  
Huaguang Zhang ◽  
Bing Chen ◽  
Qingling Zhang
Keyword(s):  
Tracking Control ◽  
Mechanical Systems ◽  
External Disturbances ◽  
Control Scheme ◽  
Asymptotic Tracking

Fault Tolerant Tracking Control Scheme for UAV Using Dynamic Surface Control Technique

2012 ◽  
Vol 31 (5) ◽  
pp. 1713-1729 ◽  
Author(s):  
Moshu Qian ◽  
Bin Jiang ◽  
Dezhi Xu
Keyword(s):  
Tracking Control ◽  
Fault Tolerant ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Surface Control ◽  
Control Scheme

scholarly journals Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Gang Chen ◽  
Qing Lin
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Lyapunov Theory ◽  
Actuator Faults ◽  
Fuzzy Logic Systems ◽  
External Disturbances ◽  
Communication Topology ◽  
Velocity Information ◽  
Cooperative Tracking

This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity. Based on the estimated velocity information and the universal approximation ability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is first proposed for the fault-free Lagrange systems. Then, the actuator faults are considered and a distributed fault-tolerant controller is presented. Based on graph theory and Lyapunov theory, the convergence analyses for the proposed algorithms are provided. The development in this paper is suitable for the general directed communication topology. Numerical simulation results are presented to show the closed-loop performance of the proposed control law and illustrate its robustness to actuator faults and external disturbances.

Finite-time fault-tolerant attitude tracking control for spacecraft without unwinding

2018 ◽  
Vol 233 (6) ◽  
pp. 2119-2130 ◽  
Author(s):  
Bing Huang ◽  
Ai-jun Li ◽  
Yong Guo ◽  
Chang-qing Wang ◽  
Jin-hua Guo
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Control Schemes ◽  
Fast Terminal Sliding Mode ◽  
Attitude Tracking Control

This paper investigates the finite-time attitude tracking control problem for spacecraft in the presence of external disturbances and actuator faults. Two anti-unwinding attitude tracking control schemes have been proposed based on the rotation matrix and sliding mode control technology. Utilizing a fast terminal sliding mode surface, the first controller can fulfill the finite-time attitude tracking control task with disturbance rejection ability. The second controller can improve the system reliability when the actuator fault occurs. Rigorous mathematical analysis and proof concludes that the proposed controllers can make a spacecraft track the desired attitude command in finite time. Numerical simulation results are presented to demonstrate the effectiveness of the proposed controllers.

scholarly journals Fixed-Time Trajectory Tracking Control of Autonomous Surface Vehicle with Model Uncertainties and Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Jiawen Cui ◽  
Haibin Sun
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Fixed Time ◽  
Convergence Time ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Integral Sliding Mode ◽  
Control Scheme

The issue of fixed-time trajectory tracking control for the autonomous surface vehicles (ASVs) system with model uncertainties and external disturbances is investigated in this paper. Particularly, convergence time does not depend on initial conditions. The major contributions include the following: (1) An integral sliding mode controller (ISMC) via integral sliding mode surface is first proposed, which can ensure that the system states can follow the desired trajectory within a fixed time. (2) Unknown external disturbances are absolutely estimated by means of designing a fixed-time disturbance observer (FTDO). By combining the FTDO and ISMC techniques, a new control scheme (FTDO-ISMC) is developed, which can achieve both disturbance compensation and chattering-free condition. (3) Aiming at reconstructing the unknown nonlinear dynamics and external disturbances, a fixed-time unknown observer (FTUO) is proposed, thus providing the FTUO-ISMC scheme that finally achieves trajectory tracking of ASVs with unknown parameters. Finally, simulation tests and detailed comparisons indicate the effectiveness of the proposed control scheme.

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