Augmentation Scheme for Fault-Tolerant Control Using Integral Sliding Modes

Abstract

Abstract-In this paper a novel fault tolerant control allocation scheme is proposed, which has the capability to maintain closed-loop nominal performance in the case of faults/failures by effectively managing the actuator redundancy, and without reconfiguring the underlying control law. The proposed scheme relies on an a posteri approach, building on an existing state feedback controller designed using only the primary actuators. An integral sliding mode scheme is integrated with the existing controller to introduce fault tolerance. The proposed scheme uses the measured or estimated actuator effectiveness levels in order to redistribute the control signals to the healthy ones which allows a certain class of total actuator failures to be mitigated. The effectiveness of the proposed scheme is tested in simulation using a high fidelity nonlinear model of a transport aircraft model.

Integral Sliding Mode Fault-Tolerant Control for Uncertain Linear Systems Over Networks With Signals Quantization

“…In this section, the simulation results are presented by employing the lateral dynamics of a large transport aircraft in [24] and a single-mode fairing model from [37] to illustrate the effectiveness of the proposed FTC scheme based on ISMC. In addition, in order to compare, the FTC scheme with the negligence of quantization phenomenon is considered.…”

“…The lateral dynamics of a large transport aircraft in [24] are used to evaluate the proposed scheme. For design purposes, a linearization of the benchmark model from [24] is obtained about an operating condition of 7000-m altitude and 220-m/s forward speed (Mach 0.8).…”

“…For design purposes, a linearization of the benchmark model from [24] is obtained about an operating condition of 7000-m altitude and 220-m/s forward speed (Mach 0.8). By augmenting a washout filter state, the state-space representation of the model is given as …”

Fault tolerant control using integral sliding modes

“…Define a scalar γ * 1 (which is guaranteed to exist) to be the smallest number satisfying Φ(t) < γ * 1 (53) Proposition 2 [11]: During fault or failure conditions, for any combination of 0 < w i ≤ 1, the closed loop system will be stable if γ 2 γ * 1 < 1 Again this can be extended to the case when W (t) is not known and is replaced by W (t) in the control law. The proposed integral sliding mode control law, which depends on the nominal system (48) is defined as…”

Fault-tolerant control of uncertain linear systems in the presence of L∞ disturbances and actuator saturation

“…The total or partial loss of actuators' effectiveness is considered as one of the systems' main malfunctions and has attracted interest for further research in academia as well as industry [4][5][6].…”