An LPV pole-placement approach to friction compensation as an FTC problem

Ron J. Patton; Lejun Chen; Supat Klinkhieo

International Journal of Applied Mathematics and Computer Science (2012)

  • Volume: 22, Issue: 1, page 149-160
  • ISSN: 1641-876X

Abstract

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The concept of combining robust fault estimation within a controller system to achieve active Fault Tolerant Control (FTC) has been the subject of considerable interest in the recent literature. The current study is motivated by the need to develop model-based FTC schemes for systems that have no unique equilibria and are therefore difficult to linearise. Linear Parameter Varying (LPV) strategies are well suited to model-based control and fault estimation for such systems. This contribution involves pole-placement within suitable LMI regions, guaranteeing both stability and performance of a multi-fault LPV estimator employed within an FTC structure. The proposed design strategy is illustrated using a nonlinear two-link manipulator system with friction forces acting simultaneously at each joint. The friction forces, regarded as a special case of actuator faults, are estimated and their effect is compensated within a polytope controller system, yielding a robust form of active FTC that is easy to apply to real robot systems.

How to cite

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Ron J. Patton, Lejun Chen, and Supat Klinkhieo. "An LPV pole-placement approach to friction compensation as an FTC problem." International Journal of Applied Mathematics and Computer Science 22.1 (2012): 149-160. <http://eudml.org/doc/208091>.

@article{RonJ2012,
abstract = {The concept of combining robust fault estimation within a controller system to achieve active Fault Tolerant Control (FTC) has been the subject of considerable interest in the recent literature. The current study is motivated by the need to develop model-based FTC schemes for systems that have no unique equilibria and are therefore difficult to linearise. Linear Parameter Varying (LPV) strategies are well suited to model-based control and fault estimation for such systems. This contribution involves pole-placement within suitable LMI regions, guaranteeing both stability and performance of a multi-fault LPV estimator employed within an FTC structure. The proposed design strategy is illustrated using a nonlinear two-link manipulator system with friction forces acting simultaneously at each joint. The friction forces, regarded as a special case of actuator faults, are estimated and their effect is compensated within a polytope controller system, yielding a robust form of active FTC that is easy to apply to real robot systems.},
author = {Ron J. Patton, Lejun Chen, Supat Klinkhieo},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {friction; linear parameter varying; fault detection and diagnosis; linear matrix inequality; pole-placement},
language = {eng},
number = {1},
pages = {149-160},
title = {An LPV pole-placement approach to friction compensation as an FTC problem},
url = {http://eudml.org/doc/208091},
volume = {22},
year = {2012},
}

TY - JOUR
AU - Ron J. Patton
AU - Lejun Chen
AU - Supat Klinkhieo
TI - An LPV pole-placement approach to friction compensation as an FTC problem
JO - International Journal of Applied Mathematics and Computer Science
PY - 2012
VL - 22
IS - 1
SP - 149
EP - 160
AB - The concept of combining robust fault estimation within a controller system to achieve active Fault Tolerant Control (FTC) has been the subject of considerable interest in the recent literature. The current study is motivated by the need to develop model-based FTC schemes for systems that have no unique equilibria and are therefore difficult to linearise. Linear Parameter Varying (LPV) strategies are well suited to model-based control and fault estimation for such systems. This contribution involves pole-placement within suitable LMI regions, guaranteeing both stability and performance of a multi-fault LPV estimator employed within an FTC structure. The proposed design strategy is illustrated using a nonlinear two-link manipulator system with friction forces acting simultaneously at each joint. The friction forces, regarded as a special case of actuator faults, are estimated and their effect is compensated within a polytope controller system, yielding a robust form of active FTC that is easy to apply to real robot systems.
LA - eng
KW - friction; linear parameter varying; fault detection and diagnosis; linear matrix inequality; pole-placement
UR - http://eudml.org/doc/208091
ER -

References

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