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.

scholarly journals Fault-tolerant control for a class of n-order systems based on fast terminal sliding mode and extended state observer

2021 ◽  
pp. 002029402110286
Author(s):  
Pu Yang ◽  
Peng Liu ◽  
ChenWan Wen ◽  
Huilin Geng
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Singular Control ◽  
Fault Tolerant Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Terminal Sliding Surface

This paper focuses on fast terminal sliding mode fault-tolerant control for a class of n-order nonlinear systems. Firstly, when the actuator fault occurs, the extended state observer (ESO) is used to estimate the lumped uncertainty and its derivative of the system, so that the fault boundary is not needed to know. The convergence of ESO is proved theoretically. Secondly, a new type of fast terminal sliding surface is designed to achieve global fast convergence, non-singular control law and chattering reduction, and the Lyapunov stability criterion is used to prove that the system states converge to the origin of the sliding mode surface in finite time, which ensures the stability of the closed-loop system. Finally, the effectiveness and superiority of the proposed algorithm are verified by two simulation experiments of different order systems.

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 Active versus passive fault-tolerant control of a redundant multirotor UAV

2019 ◽  
Vol 124 (1273) ◽  
pp. 385-408
Author(s):  
M. Saied ◽  
B. Lussier ◽  
I. Fantoni ◽  
H. Shraim ◽  
C. Francis
Keyword(s):  
Fault Tolerance ◽  
Fault Detection ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
Detection Scheme ◽  
Redundancy Management ◽  
Model Free

ABSTRACTThis paper considers actuator redundancy management for a redundant multirotor Unmanned Aerial Vehicle (UAV) under actuators failures. Different approaches are proposed: using robust control (passive fault tolerance), and reconfigurable control (active fault tolerance). The robust controller is designed using high-order super-twisting sliding mode techniques, and handles the failures without requiring information from a Fault Detection scheme. The Active Fault-Tolerant Control (AFTC) is achieved through redistributing the control signals among the healthy actuators using reconfigurable multiplexing and pseudo-inverse control allocation. The Fault Detection and Isolation problem is also considered by proposing model-based and model-free modules. The proposed techniques are all implemented on a coaxial octorotor UAV. Different experiments with different scenarios were conducted for the validation of the proposed strategies. Finally, advantages, disadvantages, application considerations and limitations of each method are examined through quantitative and qualitative studies.

scholarly journals Active Fault-Tolerant Control Based on the Fault of Electromagnetic Hybrid Active Suspension

2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Farong Kou ◽  
Jianghao Wu ◽  
Jian Gao ◽  
Dapeng Wu ◽  
Ruochen Chen
Keyword(s):  
Shock Absorber ◽  
Ride Comfort ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Solenoid Valve ◽  
Sliding Mode Controller ◽  
Unknown Input ◽  
Unknown Input Observer ◽  
Fuzzy Sliding Mode

In order to improve the ride comfort and handling stability of the vehicle and realize the recovery of vibration energy, an electromagnetic linear hybrid suspension actuator composed of linear motor and solenoid valve shock absorber is proposed. At the same time, a fault diagnosis and fault-tolerant control strategy is designed to solve the system instability caused by the fault of electromagnetic hybrid active suspension. The 1/4 vehicle two-degree-of freedom suspension model, the linear motor mathematical model, and the solenoid valve shock absorber test model are established. In this paper, the fuzzy sliding mode controller is used as the controller and the unknown input observer is used to estimate the state of the suspension. According to the residual obtained from the unknown input observer and compared with the residual threshold, the suspension fault is determined. In the case of fault, the fuzzy sliding mode controller is used to compensate the force and realize the suspension fault-tolerant control. The performance of the suspension is simulated on random road and bumped road, respectively. The simulation results show that the fault-tolerant control effect of the three performance indexes of the suspension is good, and the ride comfort and safety of the suspension are improved. Finally, the bench test is carried out, and the test results show that in the fault-tolerant control state, the root mean square value of the sprung mass acceleration is reduced by 31.69% compared with the fault state and the dynamic performance of the suspension is improved.

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.

Characteristic model–based adaptive fault-tolerant control for four-PMSM synchronization system

2020 ◽  
pp. 095965182095174
Author(s):  
Yang Gao ◽  
Yifei Wu ◽  
Xiang Wang ◽  
Qingwei Chen
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
State Observer ◽  
Extended State Observer ◽  
System Control ◽  
Extended State ◽  
Characteristic Model ◽  
Control Scheme ◽  
Motor Information

In four-motor servo systems, actuator failures influence control performance seriously through huge inertia ratio changes and unknown disturbances. To solve this problem, an adaptive fault-tolerant control scheme based on characteristic modeling and extended state observer is proposed. First, an adaptive sliding mode observer is designed as fault detection part and offers motor information for controller. Second, to simplify complex dynamic model, this servo system is described by a second-order difference equation. This model integrates uncertainties into three time–varying characteristic parameters to reflect system status. Third, a discrete-time extended state observer is applied to restrain system error caused by actuator failure. Then, a fault-tolerant controller is designed based on characteristic model, and its stability is guaranteed in the sense of Lyapunov stability theorem. These four parts make up the adaptive control scheme and its effectiveness in system control, and fault tolerant is evaluated by both simulation and experiment results.

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