A Fault-Hiding Approach for the Switching Quasi-LPV Fault Tolerant Control of a Four-Wheeled Omnidirectional Mobile Robot

Abstract

Abstract-This paper proposes a reference model approach for the trajectory tracking of a four wheeled omnidirectional mobile robot. In particular, the error model is brought to a quasi-Linear Parameter Varying (LPV) form suitable for designing an errorfeedback controller. It is shown that, if polytopic techniques are used to reduce the number of constraints from infinite to finite, a solution within the standard LPV framework could not exist due to a singularity that appears in the possible values of the input matrix. Adding a switching component to the controller allows to solve this problem. Moreover, a switching LPV virtual actuator is added to the control loop in order to obtain fault tolerance within the fault-hiding paradigm, keeping the stability and some desired performances under the effect of actuator faults without the need of retuning the nominal controller. The effectiveness of the proposed approach is shown and proved through simulation and experimental results.

Real-time fault diagnosis and fault-tolerant control

“…As a result, active fault tolerant control techniques mostly reply on realtime fault diagnosis schemes to provide the up-to-date information on the current status of the system monitored. Undoubtedly, the selected papers [22][23][24][25][26][27][28][29][30][31] fall into the category of active fault tolerant control as they are all heavily dependent of the system status information provided by the fault diagnosis schemes. The paper [32] is not based directly on the diagnosis of the faults, but on the compensation of the ultimate impact caused by the faults by using adaptive control laws.…”

“…The reconfiguration block is called virtual actuator in case of actuator faults. In the paper [28] by Rotondo et al, faulthiding approach is applied to the fault-tolerant control of a four wheeled omnidirectional robot, which is modelled as quasi-linear parameter varying system. A switching linear parameter varying virtual actuator is added to the control loop to realize fault tolerance for the system under the effect of actuator faults.…”

“…Twelve selected papers pay attention on fault diagnosis methods and applications [10][11][12][13][14][15][16][17][18][19][20][21], and the other eleven papers are concentrated on real-time fault tolerant control and applications [22][23][24][25][26][27][28][29][30][31][32]. We are going to overview the selected papers following fault diagnosis techniques and fault-tolerant control techniques sequentially.…”

Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control

“…As for the application to wheeled mobile robots, some fault diagnosis methods are developed (e.g., Fourlas et al, 2015;Goel et al, 2000;Skoundrianos and Tzafestas, 2004), a sensor fault accommodation scheme is presented by Ji and Sarkar (2007), some fault-tolerant control systems are designed by Koh et al (2012), Zhang and Cocquempot (2014), Rotondo et al (2014), Kim et al (2015), and Aref et al (2015) for four-wheel drive robots, and a hybrid fault adaptive control scheme is designed by Ji et al (2003) to accommodate partial faults and degradation for two-wheel drive (2WD) mobile robots. However, even if it is important to compensate a partial loss of wheel-motor effectiveness, the actuators (motors) of a wheeled mobile robot may also be totally faulty.…”

Application of model-based LPV actuator fault estimation for an industrial benchmark

“…Recently, the application of linear parameter varying (LPV) concepts to system modelling, control and FDD have also received much attention (Balas, 2002;Bokor & Balas, 2004;Henry, 2008;Sato, 2010;Wei & Verhaegen, 2011a;Hecker & Pfifer, 2014;Alwi & Edwards, 2014;Henry et al, 2014;Varga & Ossmann, 2014;Vanek et al, 2014;Chen et al, 2016;Rodonto et al, 2015;Ossmann & Varga, 2015;Rotondo et al, 2015;Alwi et al, 2015). Nevertheless, the technical demands of model-based FDD, especially for the FDD problem based on using LPV, are still quite limited and restrictive in the aerospace industry (Zolghadri, 2012).…”