# 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

## Access Full Article

top## Abstract

top## How to cite

topRon 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

top- Apkarian, P., Gahinet, P. and Becker, G. (1995). Self-scheduled ${H}_{\infty}$ control of linear parameter-varying systems: A design example, Automatica 31(9): 1251-1261. Zbl0825.93169
- Armstrong-Hélouvry, B., Dupont, P. and de Wit, C.C. (1994). A survey of models, analysis tools and compensation methods for the control of machines with friction, Automatica 30(7): 1083-1138. Zbl0800.93424
- Bokor, J. and Balas, G. (2004). Detection filter design for LPV systems: A geometric approach, Automatica 40(3): 511-518. Zbl1042.93018
- Bona, B. and Indri, M. (2005). Friction compensation in robotics: An overview, Proceedings of the 44th IEEE Conference on Decision and Control/European Control Conference 2005, Seville, Spain, pp. 4360-4367.
- Casavola, A., Famularo, D., Franze, G. and Patton, R. (2008). A fault detection filter design method for a class of linear time-varying systems, 16th Mediterranean Conference on Control and Automation, Ajaccio, France, pp. 1681-1686.
- Casavola, A., Famularo, D., Franze, G. and Sorbara, M. (2007). A fault-detection, filter-design method for linear parameter-varying systems, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 221(6): 865-874.
- Chen, J., Patton, R. and Chen, Z. (1999). Active fault-tolerant flight control systems design using the linear matrix inequality method, Transactions of Institute of Measurement & Control 21(2-3): 77-84.
- Chen, L. (2009). Multirate Eigenstructure Assignment Using Lifting, Ph.D. thesis, University of York, York.
- Ganguli, S., Marcos, A. and Balas, G. (2002). Reconfigurable LPV control design for B-747-100/200 longitudinal axis, American Control Conference, Anchorage, AK, USA, pp. 3612-3617.
- Hassen, S., Crusca, F. and Abachi, H. (2000). Modelling system for control studies-An overview, ISCA 15th International Conference on Computers and Their Application, Orlando, FL, USA, pp. 418-421.
- Henry, D. and Zolghadri, A. (2005). Design and analysis of robust residual generators for systems under feedback control, Automatica 41(2): 251-264. Zbl1116.93331
- Hou, M. and Patton, R. (1996). An LMI approach to H/${H}_{\infty}$ fault detection observers, UKACC International Conference on CONTROL ’96, Exeter, UK, pp. 305-310.
- Leith, D. and Leithead, W. (2000). Survey of gain-scheduling analysis and design, International Journal of Control 73(11): 1001-1025. Zbl1006.93534
- Marcos, A., Ganguli, S. and Balas, G. (2005). An application of ${H}_{\infty}$ fault detection and isolation to a transport aircraft, Control Engineering Practice 13(1): 105-119.
- McKerrow, P. (1991). Introduction to Robotics, Addison-Wesley Publishing Company, Inc., Boston, MA.
- Olsson, H., Astrom, K., Wit, C.C.D., Gafvert, M. and Lischinsky, M. (1998). Friction models and friction compensation, European Journal of Control 4(3): 176-195. Zbl0932.74052
- Patton, R. and Klinkhieo, S. (2010). LPV fault estimation and FTC of a two-link manipulator, 2010 American Control Conference, Baltimore, MD, USA, pp. 4647-4652.
- Patton, R., Putra, D. and Klinkhieo, S. (2010). Friction compensation as fault-tolerant control problem, International Journal of Systems Science 41(8): 987-1001. Zbl1213.93188
- Putra, D., Moreau, L. and Nijmeijer, H. (2004). Observer-based compensation of discontinuous friction, Proceedings of the 43rd IEEE Conference on Decision and Control, Atlantis, Paradise Island, The Bahamas, pp. 4940-4945.
- Weng, Z., Patton, R. and Cui, P. (2008). Robust fault estimation for linear parameter-varying time-delay systems, 16th Mediterranean Conference on Control and Automation, Ajaccio, France, pp. 292-296.
- Wu, F. (2001). A generalised LPV system analysis and control synthesis framework, International Journal of Control 74(7): 745-749. Zbl1011.93046

## Citations in EuDML Documents

top## NotesEmbed ?

topTo embed these notes on your page include the following JavaScript code on your page where you want the notes to appear.