Adaptive Fuzzy Fault-Tolerant Control for a Class of Nonlinear Systems under Actuator Faults: Application to an Inverted Pendulum

Bounemeur, Abdelhamid; Chemachema, Mohamed

doi:10.31763/ijrcs.v1i2.306

Cited by 20 publications

(14 citation statements)

References 25 publications

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“…However, many control strategies have been developed to deal with time-varying actuator faults. Bounemeur et al 13 have combined fault diagnosis (FD) with model predictive control (MPC) to control a hybrid actuator (pneumatics and electrics), while in the work by Bounemeur et al, 14 another active FT tracking controller based on Nussbaum-type function is built to get rid of time-varying actuator faults. In the work by Bounemeur and Chemachema, 15 an active fault-tolerant controller (AFTC) is developed using fuzzy logic systems (FLSs) and Nussbaum-type function under nonaffine nonlinear actuator faults.…”

Section: Introductionmentioning

confidence: 99%

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Optimal adaptive fuzzy fault-tolerant control applied on a quadrotor attitude stabilization based on particle swarm optimization

Bounemeur,

Chemachema

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article discusses the problem of stabilizing the attitude control of a quadrotor system, which is subject to uncertainty, external disturbances, and sensor and actuator faults. To address these challenges, the control stage employs universal approximators, such as fuzzy systems, which estimate the system’s uncertainties and eliminate nonaffine nonlinear actuator faults. In addition, the particle swarm optimization technique is used to adjust the adaptive parameters and fuzzy initial values. The robust control term is carefully designed to handle approximation errors, time-varying sensors, and external disturbances. To solve the issue of the unavoidable algebraic loop during the actuator approximation phase, a Butterworth low-pass filter is integrated. This approach automatically deals with external disturbances, and no further approximation is necessary. Furthermore, the controller can be reconfigured online to enable fast-fault compensation without requiring a fault detection or isolation unit. To prove the global stability and boundedness of all signals in the closed-loop system, Lyapunov theory is used.

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Section: Introductionmentioning

confidence: 99%

“…1. Both additive and multiplicative actuator and sensor faults are considered, where Bounemeur and Chemachema 3 have only considered one or two actuator faults, and in Bounemeur and Chemachema, 15 only sensor faults are considered which limits the applicability range of the controller. 2.…”

Section: Introductionmentioning

confidence: 99%

Optimal adaptive fuzzy fault-tolerant control applied on a quadrotor attitude stabilization based on particle swarm optimization

Bounemeur,

Chemachema

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Hence, the passive technique does not require online fault detection, fault diagnosis, and control reconfiguration. In a real application, this technique is easy to implement, but it is more conservative [3][4][5]. Looking at the number of published works, many passive fault tolerant control have been developed in the literature for linear systems, a reliable 𝐻 ∞ guaranteed cost control technique based on the linear matrix inequality (LMI) technique (see [6]).…”

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confidence: 99%

“…5) The stability results show the global uniformly ultimate bounded GUUB of the closed loop system, while it is only partially uniformly ultimate bounded PUUB in [1][2][3][4][5][6][25][26][27][28][29][30][31].…”

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confidence: 99%

Fuzzy Fault-Tolerant Control Applied on Two Inverted Pendulums with Nonaffine Nonlinear Actuator Failures

Bounemeur

Chemachema²,

Bouzina

2023

IJRCS

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This paper deals with the problem of fault-tolerant control for a class of perturbed nonlinear systems with nonlinear non-affine actuator faults. Fuzzy systems are integrated into the design of the control law to get rid of the system nonlinearities and the considered actuator faults. Two adaptive controllers are proposed in order to reach the control objective and ensure stability. The first term is an adaptive controller involved to mollify the system uncertainties and the considered actuator faults. Therefore, the second term is known as a robust controller introduced for the purpose of dealing with approximation errors and exogenous disturbances. In general, the designed controller allows to deal automatically with the exogenous disturbances and actuator faults with the help of an online adaption protocol. A Butterworth low-pass filter is utilized to avoid the algebraic loop issue and allows a reliable approximation of the ideal control law. A stability study is performed based on Lyapunov's theory. Two inverted pendulum example is carried out to prove the accuracy of the controller.

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“…LQR-based controllers were also made [44][45][46][47][48]. Moreover, intelligent control techniques were also proposed: Neural Network [49][50][51][52], and Fuzzy [53][54][55].…”

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confidence: 99%

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

et al. 2022

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COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. Doi: 10.28991/esj-2021-SP1-016 Full Text: PDF

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Adaptive Fuzzy Fault-Tolerant Control for a Class of Nonlinear Systems under Actuator Faults: Application to an Inverted Pendulum

Cited by 20 publications

References 25 publications

Optimal adaptive fuzzy fault-tolerant control applied on a quadrotor attitude stabilization based on particle swarm optimization

Optimal adaptive fuzzy fault-tolerant control applied on a quadrotor attitude stabilization based on particle swarm optimization

Fuzzy Fault-Tolerant Control Applied on Two Inverted Pendulums with Nonaffine Nonlinear Actuator Failures

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

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