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.

Research on Sensor Fault-Tolerant Control Based on Riccati Equation for Electric Power Steering

2011 ◽  
Vol 464 ◽  
pp. 86-89 ◽  
Author(s):  
Da Chong Wang ◽  
Chen Long ◽  
Chen Huang
Keyword(s):  
Electric Power ◽  
Riccati Equation ◽  
Fault Tolerant ◽  
Design Method ◽  
Continuous System ◽  
Fault Tolerant Control ◽  
Sensor Faults ◽  
Sensor Failure ◽  
Electric Power Steering ◽  
Power Steering

In order to ensure the safe and reliable operation of electric power steering(eps) system,the fault-tolerant control theory is used to design the feedback control for eps 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 electric power steering of a certain mini car as research object,the simulation calculation is carried out.By applying such fault-tolerant controller for the eps 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.

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.

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.

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.

scholarly journals Active Fault-Tolerant Control for Wind Turbine with Simultaneous Actuator and Sensor Faults

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Lei Wang ◽  
Ming Cai ◽  
Hu Zhang ◽  
Fuad Alsaadi ◽  
Liu Chen
Keyword(s):  
Wind Turbine ◽  
State Vector ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Design Method ◽  
Fault Tolerant Control ◽  
Descriptor System ◽  
Fault Estimation ◽  
Sensor Faults ◽  
Set Up

The purpose of this paper is to show a novel fault-tolerant tracking control (FTC) strategy with robust fault estimation and compensating for simultaneous actuator sensor faults. Based on the framework of fault-tolerant control, developing an FTC design method for wind turbines is a challenge and, thus, they can tolerate simultaneous pitch actuator and pitch sensor faults having bounded first time derivatives. The paper’s key contribution is proposing a descriptor sliding mode method, in which for establishing a novel augmented descriptor system, with which we can estimate the state of system and reconstruct fault by designing descriptor sliding mode observer, the paper introduces an auxiliary descriptor state vector composed by a system state vector, actuator fault vector, and sensor fault vector. By the optimized method of LMI, the conditions for stability that estimated error dynamics are set up to promote the determination of the parameters designed. With this estimation, and designing a fault-tolerant controller, the system’s stability can be maintained. The effectiveness of the design strategy is verified by implementing the controller in the National Renewable Energy Laboratory’s 5-MW nonlinear, high-fidelity wind turbine model (FAST) and simulating it in MATLAB/Simulink.

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.

Research of Robust Fault-Tolerant Control for T-S Fuzzy Time-Delays Descriptor System

2013 ◽  
Vol 385-386 ◽  
pp. 808-811
Author(s):  
Chun Lei Zhao ◽  
Yi Nan Xu ◽  
Dong Bi Zhu ◽  
Cheng Zhe Xu
Keyword(s):  
Time Delays ◽  
Control Method ◽  
Fault Tolerant ◽  
Design Method ◽  
Fuzzy Model ◽  
Fault Tolerant Control ◽  
Lyapunov Stability Theory ◽  
Descriptor System ◽  
Sensor Faults ◽  
Fuzzy State

In order to describe the time-delays and faults on continuous nonlinear descriptor system using T-S fuzzy model, an observer is proposed to estimate system states, actuator and sensor faults. A fuzzy state feedback controller is constructed for faults compensations. On the basic of Lyapunov stability theory, the proposed robust fault-tolerant control method ensures the closed-loop system to be robust stability even as faults occur. The actuator and sensor faults can be diagnosed and estimated in 0.2 seconds. The performance of the proposed design method is effective in simulations.

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