A Fault Tolerant Control Scheme Using the Feasible Constrained Control Allocation Strategy

Naderi, Mehdi; Johansen, Tor Arne; Sedigh, Ali Khaki

doi:10.1007/s11633-019-1168-9

Cited by 9 publications

(10 citation statements)

References 37 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The discrete-time synthesis algorithm has the advantages of operation time fast, occupation space small and robustness, and is gradually used in finite-time FTC. Delta operator has the advantage of high sensitivity and fast sampling in the development of discrete-time integrated algorithms, combined with the fault tolerance of MPC [37]- [41] to preserve the steering capability while ensuring stability [42]. A coupled nonlinear dynamics discrete-time adaptive three-step control is proposed considering the vehicle tire adhesion limit characteristics.…”

Section: Domestic and Foreign Scholars Have Conducted Research On Fau...mentioning

confidence: 99%

Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation

Zhang

Liu

2022

IEEE Access

View full text Add to dashboard Cite

Aiming at stability and safety problems caused by the actuator failure of the automated guided vehicle under the condition of centroid position change. The four-wheel independent drive four-wheel independent steer (4WID/4WIS) AGV is studied for fault-tolerant control of single-wheel drive actuators under the centroid position variation condition. First, 3-DOF vehicle model, drive-wheel dynamics model, HSRI tire model, and the actuator loss of effectiveness model established. Second, a hierarchical controller is designed with an optimal input controller based on Model Predictive Control (MPC) theory of the upper layer, a desired yaw moment solver based on fuzzy theory of the middle layer, and a torque reconstruction controls distributor based on the control gain in the lower layer. Then, the AGV is simulated and analyzed in straight line and double line change conditions. The simulation results show that the yaw rate and the centroid sideslip angle can closely track the theoretical value. The difference between the theoretical value is kept within 5%. Finally, the 4WID/4WIS AGV prototype vehicle was developed and tested for straight-line and double-lane change condition. The difference between simulation and experiment was within 4%. The experimental results show that the designed controller is effective.INDEX TERMS 4WID/4WIS, MPC, fault-tolerant control, drive torque reconstruction, centroid variation.

show abstract

Section: Domestic and Foreign Scholars Have Conducted Research On Fau...mentioning

confidence: 99%

Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation

Zhang

Liu

2022

IEEE Access

View full text Add to dashboard Cite

show abstract

“…This work differs from the aforementioned works in different aspects. Firstly, unlike [10][11][12][13][14], here we assume no prior knowledge of the underlying dynamics and the method is entirely data-driven. Secondly, while conventional K-MPC controllers such as the ones in [26][27][28] are susceptible to actuator faults, in this work, a fault-tolerant K-MPC approach is presented that enables the controller to mitigate the fault effect.…”

Section: Introductionmentioning

confidence: 99%

“…The study presented in [11] introduces a new fault‐tolerant system called the multiple model‐based fault‐tolerant control system, which combines an operating status recognizer with a fault‐tolerant controller set utilizing MPC. The control allocation problem is addressed in [12] by considering the feasible region of the control allocation unit as a time‐varying MPC constraint. In [13], an active MPC scheme is proposed which is based on incorporating feedback compensation in the nonlinear MPC and using an extended Kalman filter‐based fault estimation to accommodate faults of affine nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Koopman fault‐tolerant model predictive control

Bakhtiaridoust,

Yadegar,

Jahangiri

2024

IET Control Theory & Appl

View full text Add to dashboard Cite

This paper introduces a novel data‐driven approach to develop a fault‐tolerant model predictive controller (MPC) for non‐linear systems. By adopting a Koopman operator‐theoretic perspective, the proposed method leverages historical data from the system to construct a data‐driven model that captures the non‐linear behaviour and fault characteristics. The fault influence is addressed through an online estimation of a time‐varying Koopman predictor, which allows for adjusting the MPC control law to counteract the fault effects. This estimation is performed in a higher dimensional Koopman feature space, where the dynamics behave linearly. As a result, the non‐linear fault‐tolerant MPC optimization problem can be replaced with a more practical and feasible linear time‐varying one using the approximated Koopman predictor. Moreover, by incorporating the online update procedure, the time‐varying Koopman predictor can represent the dynamics of the faulty system. Hence, the controller can adapt and compensate for the faults in real‐time, integrating the fault diagnosis module in the MPC framework and eliminating the need for a separate fault detection unit. Finally, the efficacy of the proposed approach is demonstrated through case study results, which highlight the ability of the controller to mitigate faults and maintain desired system behaviour.

show abstract

“…Now it has been widely used in various fields and has become one of the inseparable key technologies. For example, there are researches based on control allocation technology [1][2][3][4][5][6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Control allocation technology based on fault diagnosis for the unmanned aerial vehicle system subject to physical constraints and fault reconfiguration mismatch

Wang

Yao

2022

Asian Journal of Control

View full text Add to dashboard Cite

The problem of the system robustness subject to physical constraints and mismatched fault reconstruction is discussed in this paper. In order to facilitate the design, a four‐rotor unmanned aerial vehicle (UAV) system model was selected for research. First, the control allocation model of the nonlinear UAV system with disturbances is shown in the paper. Secondly, a weighted pseudo‐inverse method based on adaptive weights is proposed, which reduces the impact of physical constraints on the system. After that, a dynamic weight control allocation method based on the fault efficiency matrix is designed. The weight matrix can dynamically adjust the control distribution law according to the fault estimation value provided by the observer. Then, a dynamic adaptive control allocation method for faults and physical constraints is carried out by combining adaptive weights and dynamic weights. Finally, a simulation example is presented to further illustrate the effectiveness of the algorithm proposed in this paper.

show abstract

A Fault Tolerant Control Scheme Using the Feasible Constrained Control Allocation Strategy

Cited by 9 publications

References 37 publications

Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation

Fault-Tolerant Control of Automated Guided Vehicle Under Centroid Variation

Koopman fault‐tolerant model predictive control

Control allocation technology based on fault diagnosis for the unmanned aerial vehicle system subject to physical constraints and fault reconfiguration mismatch

Contact Info

Product

Resources

About