Displaying similar documents to “Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults”

Supervisory fault tolerant control of the GTM UAV using LPV methods

Tamás Péni, Báltin Vanek, Zoltán Szabó, József Bakor (2015)

International Journal of Applied Mathematics and Computer Science

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A multi-level reconfiguration framework is proposed for fault tolerant control of over-actuated aerial vehicles, where the levels indicate how much authority is given to the reconfiguration task. On the lowest, first level the fault is accommodated by modifying only the actuator/sensor configuration, so the fault remains hidden from the baseline controller. A dynamic reallocation scheme is applied on this level. The allocation mechanism exploits the actuator/sensor redundancy available...

Active fault tolerant control of nonlinear systems: The cart-pole example

Marcello Bonfè, Paolo Castaldi, Nicola Mimmo, Silvio Simani (2011)

International Journal of Applied Mathematics and Computer Science

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This paper describes the design of fault diagnosis and active fault tolerant control schemes that can be developed for nonlinear systems. The methodology is based on a fault detection and diagnosis procedure relying on adaptive filters designed via the nonlinear geometric approach, which allows obtaining the disturbance de-coupling property. The controller reconfiguration exploits directly the on-line estimate of the fault signal. The classical model of an inverted pendulum on a cart...

Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs

Zhaohui Cen, Hassan Noura, Younes Al Younes (2015)

International Journal of Applied Mathematics and Computer Science

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A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal control, active and passive FTC and fault parking is proposed in this paper. Firstly, an adaptive Thau observer (ATO) is presented to estimate the quadrotor rotor fault magnitudes, and then faults with different magnitudes and time-varying natures are rated into corresponding fault severity levels based on the pre-defined fault-tolerant boundaries. Secondly, a...

Fault-tolerant control strategy for actuator faults using LPV techniques: Application to a two degree of freedom helicopter

Saúl Montes de Oca, Vicenç Puig, Marcin Witczak, Łukasz Dziekan (2012)

International Journal of Applied Mathematics and Computer Science

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In this paper, a Fault Tolerant Control (FTC) strategy for Linear Parameter Varying (LPV) systems that can be used in the case of actuator faults is proposed. The idea of this FTC method is to adapt the faulty plant instead of adapting the controller to the faulty plant. This approach can be seen as a kind of virtual actuator. An integrated FTC design procedure for the fault identification and fault-tolerant control schemes using LPV techniques is provided as well. Fault identification...

Supervisory fault tolerant control with integrated fault detection and isolation: A switched system approach

Hao Yang, Bin Jiang, Vincent Cocquempot, Lingli Lu (2012)

International Journal of Applied Mathematics and Computer Science

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This paper focuses on supervisory fault tolerant control design for a class of systems with faults ranging over a finite cover. The proposed framework is based on a switched system approach, and relies on a supervisory switching within a family of pre-computed candidate controllers without individual fault detection and isolation schemes. Each fault set can be accommodated either by one candidate controller or by a set of controllers under an appropriate switching law. Two aircraft examples...

Sliding mode methods for fault detection and fault tolerant control with application to aerospace systems

Christopher Edwards, Halim Alwi, Chee Pin Tan (2012)

International Journal of Applied Mathematics and Computer Science

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Sliding mode methods have been historically studied because of their strong robustness properties with regard to a certain class of uncertainty, achieved by employing nonlinear control/injection signals to force the system trajectories to attain in finite time a motion along a surface in the state-space. This paper will consider how these ideas can be exploited for fault detection (specifically fault signal estimation) and subsequently fault tolerant control. It will also describe applications...

Actuator fault diagnosis for flat systems: A constraint satisfaction approach

Ramatou Seydou, Tarek Raissi, Ali Zolghadri, Denis Efimov (2013)

International Journal of Applied Mathematics and Computer Science

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This paper describes a robust set-membership-based Fault Detection and Isolation (FDI) technique for a particular class of nonlinear systems, the so-called flat systems. The proposed strategy consists in checking if the expected input value belongs to an estimated feasible set computed using the system model and the derivatives of the measured output vector. The output derivatives are computed using a numerical differentiator. The set-membership estimator design for the input vector...

Fault diagnosis and fault tolerant control using set-membership approaches: Application to real case studies

Vicenç Puig (2010)

International Journal of Applied Mathematics and Computer Science

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This paper reviews the use of set-membership methods in fault diagnosis (FD) and fault tolerant control (FTC). Setmembership methods use a deterministic unknown-but-bounded description of noise and parametric uncertainty (interval models). These methods aims at checking the consistency between observed and predicted behaviour by using simple sets to approximate the exact set of possible behaviour (in the parameter or the state space). When an inconsistency is detected between the measured...

Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation

Feng Xu, Vicenç Puig, Carlos Ocampo-Martinez, Sorin Olaru, Silviu-Iulian Niculescu (2017)

International Journal of Applied Mathematics and Computer Science

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In this paper, a fault-tolerant control (FTC) scheme is proposed for actuator faults, which is built upon tube-based model predictive control (MPC) as well as set-based fault detection and isolation (FDI). In the class of MPC techniques, tubebased MPC can effectively deal with system constraints and uncertainties with relatively low computational complexity compared with other robust MPC techniques such as min-max MPC. Set-based FDI, generally considering the worst case of uncertainties,...

SMAC-FDI: A single model active fault detection and isolation system for unmanned aircraft

Guillaume J.J. Ducard (2015)

International Journal of Applied Mathematics and Computer Science

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This article presents a single model active fault detection and isolation system (SMAC-FDI) which is designed to efficiently detect and isolate a faulty actuator in a system, such as a small (unmanned) aircraft. This FDI system is based on a single and simple aerodynamic model of an aircraft in order to generate some residuals, as soon as an actuator fault occurs. These residuals are used to trigger an active strategy based on artificial exciting signals that searches within the residuals...