scholarly journals Sensor Fault-Tolerant Control Design for Mini Motion Package Electro-Hydraulic Actuator

Processes ◽  
2019 ◽  
Vol 7 (2) ◽  
pp. 89 ◽  
Author(s):  
Tan Van Nguyen ◽  
Cheolkeun Ha
Keyword(s):  
Tracking Control ◽  
Position Control ◽  
Fault Tolerant ◽  
Human Life ◽  
Rapid Development ◽  
Fault Tolerant Control ◽  
Superior Performance ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Sensor Fault

With the rapid development of computer science and information and communication technology (ICT), increasingly intelligent, and complex systems have been applied to industries as well as human life. Fault-tolerant control (FTC) has, therefore, become one of the most important topics attracting attention from both engineers and researchers to maintain system performances when faults occur. The ultimate goal of this study was to develop a sensor fault-tolerant control (SFTC) to enhance the robust position tracking control of a class of electro-hydraulic actuators called mini motion packages (MMPs), which are widely used for applications requiring large force-displacement ratios. First, a mathematical model of the MMP system is presented, which is then applied in the position control process of the MMP system. Here, a well-known proportional, integrated and derivative (PID) control algorithm is employed to ensure the positional response to the reference position. Second, an unknown input observer (UIO) is designed to estimate the state vector and sensor faults using a linear matrix inequality (LMI) optimization algorithm. Then an SFTC is used to deal with sensor faults of the MMP system. The SFTC is formed of the fault detection and the fault compensation with the goal of determining the location, time of occurrence, and magnitude of the faults in the fault signal compensation process. Finally, numerical simulations were run to demonstrate the superior performance of the proposed approach compared to traditional tracking control.

scholarly journals Experimental Study of Sensor Fault-Tolerant Control for an Electro-Hydraulic Actuator Based on a Robust Nonlinear Observer

Energies ◽  
2019 ◽  
Vol 12 (22) ◽  
pp. 4337 ◽  
Author(s):  
Tan Van Nguyen ◽  
Cheolkeun Ha
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Nonlinear Observer ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Hydraulic Actuator ◽  
Discrete Time System ◽  
Lmi Optimization ◽  
Fault Compensation ◽  
The Difference

Electro-hydraulic actuators (EHAs) have been widely used in modern industries. However, sensor faults and actuator faults in EHA systems can arise due to aging during operation, making the system unstable and unsafe. To solve these issues, fault-tolerant control (FTC) techniques for EHA systems have been studied intensively. In this paper, an FTC is proposed and developed for the mini motion package (MMP) EHA system. First, a mathematical model of the MMP system is formulated and improved to provide position tracking control using a well-known proportional-integral-derivative (PID) controller. Second, an unknown input observer (UIO) reconstruction is performed to estimate the states, disturbances, and sensor faults so that an asymptotically stable control error can be obtained by a linear matrix inequality (LMI) optimization algorithm through Lyapunov’s stability condition. Third, the FTC designed for the nonlinear discrete-time system is formed from fault compensation based on a residual logic signal to implement the fault compensation process and ensure stability and tracking performance with respect to minimizing impacts of disturbances and sensor faults. Here, residual is defined by the difference between state response and state estimation. Finally, numerical simulations and experiments of the MMP system are presented to illustrate the efficiency of the proposed FTC technique.

Command filter-based fuzzy adaptive nonlinear sensor-fault tolerant control for a quadrotor unmanned aerial vehicle

2019 ◽  
Vol 42 (2) ◽  
pp. 198-213
Author(s):  
Chaofang Hu ◽  
Zelong Zhang ◽  
Xianpeng Zhou ◽  
Na Wang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fault Tolerant ◽  
Nonlinear Function ◽  
Fault Tolerant Control ◽  
Sensor Faults ◽  
Sensor Fault ◽  
Bias Drift ◽  
Aerial Vehicle ◽  
Command Filter ◽  
Fuzzy Adaptive

In this paper, a novel asymptotic fuzzy adaptive nonlinear fault tolerant control (FTC) scheme is presented for the under-actuated dynamics of a quadrotor unmanned aerial vehicle (UAV) subject to diverse sensor faults. The proposed FTC approach can deal with both additive sensor faults (bias, drift, loss of accuracy) and multiplicative sensor fault (loss of effectiveness). The overall dynamics is separated into position loop and attitude loop for FTC controllers design. Combining uncertain parameters and external disturbances, the four types of faults occurring in velocity sensors and Euler angle rate sensors are transformed equivalently into the unknown nonlinear function vectors and uncertain control gains. Fuzzy logic systems are used to approximate the lumped nonlinear functions, and adaptive parameters are estimated online. Nussbaum technique is introduced to deal with the unknown control gains. For both control loops, FTC controllers are designed via command filter-based backstepping approach, in which sliding mode control is introduced to establish asymptotic stability. All tracking error signals of the closed-loop control system are proved to converge to zero asymptotically. Finally, simulation comparisons with other methods demonstrate the effectiveness of the proposed FTC approach for quadrotor UAV with sensor faults.

Adaptive Cruise Control Using Sensor Fault-Tolerant Control

2010 ◽  
Vol 39 ◽  
pp. 545-549
Author(s):  
Wen Shen Wang ◽  
Chen Huang
Keyword(s):  
Adaptive Cruise Control ◽  
Fault Tolerant ◽  
Design Method ◽  
Continuous System ◽  
Fault Tolerant Control ◽  
Sensor Faults ◽  
Sensor Failure ◽  
Sensor Fault ◽  
Cruise Control ◽  
Simulation Calculation

In order to ensure the safe and reliable operation of adaptive cruise control (ACC) system, the fault-tolerant control theory is used to design the feedback control for acc system and the control rule for sensor failure in the linear continuous system is described. On the basis of riccati equation, the design method and steps of fault-tolerant controller are given from the view of optimal control. By taking adaptive cruise control of a certain mini car as research object, the simulation calculation is carried out. By applying such fault-tolerant controller for the acc system, the simulation results show that the system has no sensitiveness to the sensor faults, and the method can satisfy the demand of fault-tolerant control.

Tracking Fault Tolerant Control for Hybrid System: Two-Link Human Arm Application

2019 ◽  
Vol 141 (5) ◽  
Author(s):  
Labidi Islem ◽  
Zanzouri Nadia ◽  
Takrouni Asma
Keyword(s):  
State Feedback ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Estimation Algorithm ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Proportional Integral Derivative ◽  
Human Arm ◽  
Proportional Integral Derivative Control

This paper proposes a novel fault tolerant control (FTC) scheme for a class of hybrid dynamical system (HDS) subject to sensor faults. The corresponding FTC architecture is designed around a reconfiguration mechanism. It aims to compensate the effects of the sensors degradation and maintain satisfactory performances including continuous stability. Moreover, by using the linear matrix inequalities (LMI) approach, a fault estimation algorithm is fulfilled and the compromise between robustness to disturbances and sensitivity to fault is guaranteed. For the sake of trajectory tracking, a combined robust state feedback and proportional-integral-derivative control system is proposed herein. Finally, extensive simulation results conducted on two-link arm system are included to illustrate the efficiency of the designed FTC scheme.

scholarly journals Fault Tolerant Control for Interval Fractional-Order Systems with Sensor Failures

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Xiaona Song ◽  
Hao Shen
Keyword(s):  
Fractional Order ◽  
Closed Loop ◽  
Fault Tolerant ◽  
Design Method ◽  
Fault Tolerant Control ◽  
Fractional Order Systems ◽  
Sensor Faults ◽  
Sensor Fault ◽  
Interval Parameters ◽  
Output Feedback Controller

The problem of robust fault tolerant control for continuous-time fractional-order (FO) systems with interval parameters and sensor faults of0<α<2has been investigated. By establishing sensor fault model and state observer, an observer-based FO output feedback controller is developed such that the closed-loop FO system is asymptotically stable, not only when all sensor components are working well, but also in the presence of sensor components failures. Finally, numerical simulation examples are given to illustrate the application of the proposed design method.

Fault-tolerant control for vehicle with vertical and lateral dynamics

2018 ◽  
Vol 233 (12) ◽  
pp. 3165-3184 ◽  
Author(s):  
Jinwei Sun ◽  
JingYu Cong ◽  
Liang Gu ◽  
Mingming Dong
Keyword(s):  
Active Fault ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Gain Scheduling ◽  
Integrated Model ◽  
Integrated System ◽  
Fault Estimation ◽  
Sensor Faults ◽  
Sensor Fault ◽  
Lateral Dynamics

As the possibility of sensor faults in the vehicle chassis system is higher and influences the vehicle stability, this paper deals with active fault-tolerant control for vehicle with vertical and lateral dynamics. It focuses on the combined control of active suspension system and electronic stability control with sensor faults based on the interaction between vehicle with vertical and lateral dynamics. A 9-degree-of-freedom vehicle integrated model is adopted for accurate control. The aim of the controller is to improve riding comfort when the vehicle is driving straight and improve lateral stability when the vehicle is steering in the presence of external disturbances and sensor faults. First, an H∞-based method is introduced to reconstruct the sensor fault signals, and meanwhile, the method can also observe the unmeasured signals. Based on the reconstruction faults and observed signals, a gain scheduling controller is utilized to guarantee the performance of the integrated model under different driving conditions, and the steering input is chosen as the scheduling parameter. Three different conditions, step steering input, single lane change input, and sensor faults, are considered. The main contributions of this study are as follows: (1) an H∞-based observer was designed for sensor fault estimation of the vertical and lateral integrated model and (2) a gain scheduling controller was designed to improve the performance of the integrated system. Simulations results indicated that the active fault-tolerant controller can reconstruct sensor faults and observe the unmeasured states exactly, and the linear parameter varying framework–based gain scheduling controller ensures the system performance adaptively.

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 Fault Tolerant Control for Civil Structures Based on LMI Approach

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Chunxu Qu ◽  
Linsheng Huo ◽  
Hongnan Li
Keyword(s):  
Filter Design ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
Structural Vibration ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Lmi Approach ◽  
Active Mass Damper ◽  
Gain Optimization

The control system may lose the performance to suppress the structural vibration due to the faults in sensors or actuators. This paper designs the filter to perform the fault detection and isolation (FDI) and then reforms the control strategy to achieve the fault tolerant control (FTC). The dynamic equation of the structure with active mass damper (AMD) is first formulated. Then, an estimated system is built to transform the FDI filter design problem to the static gain optimization problem. The gain is designed to minimize the gap between the estimated system and the practical system, which can be calculated by linear matrix inequality (LMI) approach. The FDI filter is finally used to isolate the sensor faults and reform the FTC strategy. The efficiency of FDI and FTC is validated by the numerical simulation of a three-story structure with AMD system with the consideration of sensor faults. The results show that the proposed FDI filter can detect the sensor faults and FTC controller can effectively tolerate the faults and suppress the structural vibration.

scholarly journals H∞ Guaranteed Cost Fault-Tolerant Control of Double-Fault Networked Control Systems: Piecewise Delay Method

2019 ◽  
Vol 2019 ◽  
pp. 1-19
Author(s):  
Qixin Zhu ◽  
Kaihong Lu ◽  
Yonghong Zhu
Keyword(s):  
Control Systems ◽  
Networked Control Systems ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Networked Control ◽  
Linear Matrix ◽  
Time Varying ◽  
Sensor Faults ◽  
Actuator Faults ◽  
Guaranteed Cost

The term double-fault networked control system means that sensor faults and actuator faults may occur simultaneously in networked control systems. The issues of modelling and an H∞ guaranteed cost fault-tolerant control in a piecewise delay method for double-fault networked control systems are investigated. The time-varying properties of sensor faults and actuator faults are modelled as two time-varying and bounded parameters. Based on the linear matrix inequality (LMI) approach, an H∞ guaranteed cost fault-tolerant controller in a piecewise delay method is proposed to guarantee the reliability and stability for the double-fault networked control systems. Simulations are included to demonstrate the theoretical results of the proposed method.

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