Displaying similar documents to “Reconfigurable control design with integration of a reference governor and reliability indicators”

Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel

Adam Owczarkowski, Dariusz Horla (2016)

International Journal of Applied Mathematics and Computer Science

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Essential ingredients for robust control are the ability to cope with different types of system behavior following modeling imperfections and the ability to assure a certain performance level. In this paper, we propose to use an actuator fault-tolerant control law to govern, during experiments, the stabilization of a bicycle robot with an inertial wheel in order to take into account unmodeled uncertainty introduced by using a linearized model in an LQR fashion. Our proposal is illustrated...

Actuator fault tolerance in control systems with predictive constrained set-point optimizers

Piotr M. Marusak, Piotr Tatjewski (2008)

International Journal of Applied Mathematics and Computer Science

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Mechanisms of fault tolerance to actuator faults in a control structure with a predictive constrained set-point optimizer are proposed. The structure considered consists of a basic feedback control layer and a local supervisory set-point optimizer which executes as frequently as the feedback controllers do with the aim to recalculate the set-points both for constraint feasibility and economic performance. The main goal of the presented reconfiguration mechanisms activated in response...

LPV design of fault-tolerant control for road vehicles

Péter Gáspár, Zoltán Szabó, József Bokor (2012)

International Journal of Applied Mathematics and Computer Science

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The aim of the paper is to present a supervisory decentralized architecture for the design and development of reconfigurable and fault-tolerant control systems in road vehicles. The performance specifications are guaranteed by local controllers, while the coordination of these components is provided by a supervisor. Since the monitoring components and FDI filters provide the supervisor with information about the various vehicle maneuvers and the different fault operations, it is able...

Model-free reconfiguration mechanism for fault tolerance

Tushar Jain, Joseph J. Yamé, Dominique Sauter (2012)

International Journal of Applied Mathematics and Computer Science

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The problem of fault tolerant control is studied from the behavioral point of view. In this mathematical framework, the concept of interconnection among the variables describing the system is a key point. The problem is that the behavior we intend to control is not known. Therefore, we are interested in designing a fault accommodation scheme for an unknown behavior through an appropriate behavioral interconnection. Here we deal simply with the trajectories that are generated by the system...

A fault tolerant direct control allocation scheme with integral sliding modes

Mirza Tariq Hamayun, Christopher Edwards, Halim Alwi, Abdulrahman Bajodah (2015)

International Journal of Applied Mathematics and Computer Science

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In this paper, integral sliding mode control ideas are combined with direct control allocation in order to create a fault tolerant control scheme. Traditional integral sliding mode control can directly handle actuator faults; however, it cannot do so with actuator failures. Therefore, a mechanism needs to be adopted to distribute the control effort amongst the remaining functioning actuators in cases of faults or failures, so that an acceptable level of closed-loop performance can be...

Reconfigurability analysis for reliable fault-tolerant control design

Ahmed Khelassi, Didier Theilliol, Philippe Weber (2011)

International Journal of Applied Mathematics and Computer Science

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In this paper the integration of reliability evaluation in reconfigurability analysis of a fault-tolerant control system is considered. The aim of this work is to contribute to reliable fault-tolerant control design. The admissibility of control reconfigurability is analyzed with respect to reliability requirements. This analysis shows the relationship between reliability and control reconfigurability defined generally through Gramian controllability. An admissible solution for reconfigurability...

Fault tolerant control using Gaussian processes and model predictive control

Xiaoke Yang, Jan M. Maciejowski (2015)

International Journal of Applied Mathematics and Computer Science

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Essential ingredients for fault-tolerant control are the ability to represent system behaviour following the occurrence of a fault, and the ability to exploit this representation for deciding control actions. Gaussian processes seem to be very promising candidates for the first of these, and model predictive control has a proven capability for the second. We therefore propose to use the two together to obtain fault-tolerant control functionality. Our proposal is illustrated by several...

Actuator fault tolerant control design based on a reconfigurable reference input

Didier Theilliol, Cédric Join, Youmin Zhang (2008)

International Journal of Applied Mathematics and Computer Science

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The prospective work reported in this paper explores a new approach to enhance the performance of an active fault tolerant control system. The proposed technique is based on a modified recovery/trajectory control system in which a reconfigurable reference input is considered when performance degradation occurs in the system due to faults in actuator dynamics. An added value of this work is to reduce the energy spent to achieve the desired closed-loop performance. This work is justified...

Towards robust predictive fault-tolerant control for a battery assembly system

Lothar Seybold, Marcin Witczak, Paweł Majdzik, Ralf Stetter (2015)

International Journal of Applied Mathematics and Computer Science

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The paper deals with the modeling and fault-tolerant control of a real battery assembly system which is under implementation at the RAFI GmbH company (one of the leading electronic manufacturing service providers in Germany). To model and control the battery assembly system, a unified max-plus algebra and model predictive control framework is introduced. Subsequently, the control strategy is enhanced with fault-tolerance features that increase the overall performance of the production...

Fault tolerance in networked control systems under intermittent observations

Jean-Philippe Georges, Didier Theilliol, Vincent Cocquempot, Jean-Christophe Ponsart, Christophe Aubrun (2011)

International Journal of Applied Mathematics and Computer Science

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This paper presents an approach to fault tolerant control based on the sensor masking principle in the case of wireless networked control systems. With wireless transmission, packet losses act as sensor faults. In the presence of such faults, the faulty measurements corrupt directly the behaviour of closed-loop systems. Since the controller aims at cancelling the error between the measurement and its reference input, the real outputs will, in such a networked control system, deviate...