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.

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 Fault Tolerant Control Design for LPV Systems with Simultaneous Actuator and Sensor Faults

2019 ◽  
Vol 2019 ◽  
pp. 1-14 ◽  
Author(s):  
Raouaa Tayari ◽  
Ali Ben Brahim ◽  
Fayçal Ben Hmida ◽  
Anis Sallami
Keyword(s):  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Fault Tolerant Control ◽  
State Feedback Control ◽  
Fault Estimation ◽  
Sensor Faults ◽  
Lpv Systems ◽  
Active Fault Tolerant Control

The present paper addresses the problem of robust active fault tolerant control (FTC) for uncertain linear parameter varying (LPV) systems with simultaneous actuator and sensor faults. First, fault estimation (FE) scheme is designed based on two adaptive sliding mode observers (SMO). Second, using the information of simultaneous system state, actuator, and sensor faults, two active FTC are conceived for LPV systems described with polytopic representation as state feedback control and sliding mode control. The stability of closed-loop systems is guaranteed by mean of H∞ performance; sufficient conditions of the proposed methods are derived in LMIs formulation. The performance effectiveness of FTC design is illustrated using a VTOL aircraft system with both sensor and actuator faults as well as disturbances. In addition, comparative simulations are provided to verify the benefits of the proposed methods.

Robot manipulator active fault-tolerant control using a machine learning-based automated robust hybrid observer

2020 ◽  
Vol 39 (5) ◽  
pp. 6443-6463
Author(s):  
Farzin Piltan ◽  
Alexander E. Prosvirin ◽  
Jong-Myon Kim
Keyword(s):  
Machine Learning ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Fault Tolerant Control ◽  
Sliding Mode Observer ◽  
Fault Estimation ◽  
Sliding Mode Controller ◽  
Coupling Effects

Robotic manipulators represent a class of nonlinear and multiple-degrees-of-freedom robots that have pronounced coupling effects and can be used in various applications. The challenge of understanding complexity in a system’s dynamic behavior, coupling effects, and sources of uncertainty presents substantial challenges regarding fault estimation, detection, identification, and tolerant-control (FEDIT) in a robot manipulator. Thus, a proposed active fault-tolerant control algorithm, based on an adaptive modern sliding mode observer, is represented. Due to the effect of the system’s complexities and uncertainties for fault estimation, detection, and identification (FEDI), a sliding mode observer (SMO) is proposed. To address the sliding mode observer drawbacks for FEDI such as high-frequency oscillation (chattering) and fault estimation accuracy, the modern (T-S fuzzy higher order) technique is represented. In addition, the adaptive technique is applied to the modern sliding mode observer (MSMO) to self-tune the coefficients of the fault estimation observer to increase the reliability and robustness of decision-making for diagnosis of the fault. Next, the residual delivered by the adaptive MSMO (AMSMO) is split into windows, and each window is characterized by a numerical parameter. Finally, the machine learning technique known as a decision tree adaptively derives the threshold values that are used for problems of fault detection and fault identification in this work. Due to control of the effective fault, a surface automated new sliding mode controller (SANSMC) is presented in this work. To address the challenge of chattering and unlimited uncertainties (faults), the AMSMO is applied to the sliding mode controller (SMC). In addition, the surface-automated technique is used to fine-tune the surface coefficient to reduce the chattering and faults in the robot manipulator. The results show that the machine learning-based automated robust hybrid observer significantly improves the robustness, reliability, and accuracy of FEDIT in unknown conditions.

scholarly journals Sensors Fault Diagnosis and Active Fault-Tolerant Control for PMSM Drive Systems Based on a Composite Sliding Mode Observer

Energies ◽  
2019 ◽  
Vol 12 (9) ◽  
pp. 1695 ◽  
Author(s):  
Qinyue Zhu ◽  
Zhaoyang Li ◽  
Xitang Tan ◽  
Dabo Xie ◽  
Wei Dai
Keyword(s):  
Fault Diagnosis ◽  
Control Strategy ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Sliding Mode Observer ◽  
Sensor Fault ◽  
Active Fault Tolerant Control ◽  
Drive Systems

Due to the use of multiple observers and controllers in multi-sensor fault-tolerant control of PMSM drive systems, the algorithm is complex and the system control performance is affected. In view of this, the paper studies multi-sensor fault diagnosis and active fault-tolerant control strategies based on a composite sliding mode observer. With the mathematical model of PMSM built, a design method of the composite sliding mode observer is proposed. A single observer is used to observe and estimate various state variables in the system in real time, which simplifies the implementation of observer-related algorithms. In order to improve the diagnostic accuracy of different types of sensors under different faults, a method for determining fault thresholds is proposed through global search for the maximum residual value. Based on this, a fault diagnosis and active fault-tolerant control strategy is proposed to realize fast switching and reconstruction of feedback signals of closed-loop control systems under different faults of multiple sensors, thus restoring the system performance. Finally, the effectiveness of the proposed algorithm and control strategy is verified by simulation experiments

scholarly journals An active fault-tolerant control framework against actuator stuck failures under input saturations

2017 ◽  
Vol 27 (4) ◽  
pp. 749-761 ◽  
Author(s):  
Xin Qi ◽  
Didier Theilliol ◽  
Yuqing He ◽  
Jianda Han
Keyword(s):  
Active Fault ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Open Loop ◽  
Fault System ◽  
Point Tracking ◽  
Control Framework ◽  
Actuator Constraints ◽  
Active Fault Tolerant Control ◽  
The Stability

Abstract In this paper, a control framework including active fault-tolerant control (FTC) and reference redesign is developed subject to actuator stuck failures under input saturations. FTC synthesis and reference redesign approaches are proposed to guarantee post-fault system safety and reference reachability. Then, these features are analyzed under both actuator stuck failures and constraints before fault-tolerant controller switches. As the main contribution, actuator stuck failures and constraints are unified so that they can be easily considered simultaneously. By means of transforming stuck failures into actuator constraints, the post-fault system can be regarded as an equivalent system with only asymmetrical actuator constraints. Thus, methods against actuator saturations can be used to guarantee regional stability and produce the stability region. Based on this region, stuck compensation is analyzed. Specifically, an unstable open-loop system is considered, which is more challenging. Furthermore, the method is extended to a set-point tracking problem where the reachability of the original reference can be evaluated. Then, a new optimal reference will be computed for the post-fault system if the original one is unreachable. Finally, simulation examples are shown to illustrate the theoretical results.

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