Disturbance-Estimation Based Adaptive Backstepping Fault-Tolerant Synchronization Control for a Dual Redundant Hydraulic Actuation System With Internal Leakage Faults

Li, Ting; Yang, Tao; Cao, Yuyan; Xie, Rong; Wang, Xinmin

doi:10.1109/access.2019.2920415

Cited by 14 publications

(17 citation statements)

References 32 publications

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“…Backstepping control with 2 disturbance observers (BC2): This type of approach has been widely applied in previous works for the position tracking control of the hydraulic system [30,33,35]. In this controller, the control parameters are similar to those of the proposed controller but the online identification for internal leakage fault is neglected.…”

Section: B Controllers For Comparisonmentioning

confidence: 99%

“…However, the simultaneous faulty conditions have not been investigated and the fault identification and FTC were not involved. In [30], an FTC design is proposed to effectively control a redundant hydraulic actuation system with internal leakage fault and force synchronization problem. However, in these studies, the problem of internal leakage fault is only considered for one-DOF system, which does not suffer from the nonlinear dynamics as the n-DOF mechanical system and limits the application of the proposed algorithm.…”

Section: Introductionmentioning

confidence: 99%

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Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification

2021

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In this paper, an active fault-tolerant control (FTC) system design is proposed for an ndegree-of-freedom (n-DOF) hydraulic manipulator with internal leakage faults and mismatched/matched lumped disturbances. A pair of matched and mismatched disturbance observers (DOBs) is proposed to simultaneously estimate and compensate for the effects of matched/mismatched disturbances on the control system in healthy conditions. The fault detection is achieved when the estimated matched disturbance is larger than a threshold. After that, a novel control reconfiguration law is designed to switch from a normal controller to a fault-tolerant controller with an online identification algorithm based on an adaptive mechanism. The proposed active FTC guarantees the position tracking performance in not only single-fault but also simultaneous-faults conditions. Moreover, the problem of uniting disturbance-observer-based control for external disturbance and adaptive control for parametric uncertainty is solved in a novel approach. Simulation results are conducted in a two-degree-of-freedom hydraulic leg prototype, which verifies the effectiveness of the proposed method.INDEX TERMS Fault-tolerant control (FTC), disturbance observer (DOB), online identification, hydraulic manipulator, internal leakage fault.

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Section: B Controllers For Comparisonmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification

2021

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“…While vane motors and hydraulic cylinders are very compact, their operation needs cumbersome equipment for the storage, processing and adduction of pressurized oil ( Figure 5). Such equipment is also subject to frequent leakages from pipes [5] and requires considerable maintenance. Furthermore, the need to keep the oil in pressure even when actuators are at no load implies the use of continuously-running motordriven pumps which cause large electric energy consumption [10].…”

Section: B Possible Applications In the Shipboard Environmentmentioning

confidence: 99%

“…Possible ways to cope with space constraints is to use highspeed machines with gear-boxes [3], which are, however, know to suffer from reliability, and maintenance issues [3], [4]. Another solution is represented by hydraulic actuators which, however, may suffer from heavy maintenance, working-fluid leakages [5] and cumbersome equipment for pressurized oil supply. [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Design, Prototyping and Testing of a Rotating Electrical Machine With Linear Geometry for Shipboard Applications

et al. 2020

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Conventional rotating electrical machines are characterized by stator and rotor structures featuring a cylindrical geometry around the shaft rotational axis. Although advantageous for mechanical reasons, the cylindrical geometry results in overall machine shapes and dimensions that may be unsuitable for installation. This particularly occurs in shipboard applications, where electric motors and generators are subject to stringent room constraints and need to be fit in unusually shaped compartments. This paper presents the development and test of a dual-shaft rotating permanent-magnet electric machine prototype having a linear structure that facilitates its onboard use for such applications as electric propulsion and rudder actuation. In fact, the proposed machine topology has overall dimensions which can be adjusted to fit the space available for installation. The operating concept and the detailed electromechanical design of the machine are first described. Then the manufacturing and factory test of the prototype under inverter supply are illustrated. Finally, the validation of the prototype as a boat propulsion variable-speed inverter-fed motor is presented. It is proved that, despite of its highly non-conventional electromechanical design, the machine can be effectively fed from a general-purpose inverter for permanent magnet motors.

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“…From the actuator fault perspective, many recent studies determined actuator fault as loss-of-effectiveness faults or lumped unknown components [37]- [39]. In [40], [41] an internal leakage fault under the model uncertainties/timevarying load has been accommodated via the adaptive parameter estimation.…”

Section: Introductionmentioning

confidence: 99%

Robust Fault-Tolerant Control of an Electro-Hydraulic Actuator With a Novel Nonlinear Unknown Input Observer

Phan

Dao

et al. 2021

IEEE Access

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In this paper, a novel adaptive fault-tolerant controller is proposed for a typical electrohydraulic rotary actuator in the presence of disturbances, internal leakage fault, and sensor fault simultaneously. To construct the suggested controller, a nonlinear unknown input observer is developed to effectively identify the sensor fault, which is unaffected by not only internal leakage fault but also mismatched disturbances/uncertainties. Furthermore, a radial basis function neural network is designed to compensate for the mismatched disturbances/uncertainties caused by payload variation and unknown friction nonlinearities. Besides, an adaptive law based on the projection mapping function is applied to tackle the effect of the internal leakage fault. The integration of the above-mentioned techniques into the adaptive backstepping terminal sliding mode is investigated to obtain high tracking performance, robustness as well as fast convergence. The stability of the closed-loop system is proven by the Lyapunov theory. Finally, the capability and effectiveness of the proposed approach are validated via simulation results under various faulty scenarios.

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Disturbance-Estimation Based Adaptive Backstepping Fault-Tolerant Synchronization Control for a Dual Redundant Hydraulic Actuation System With Internal Leakage Faults

Cited by 14 publications

References 32 publications

Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification

Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification

Design, Prototyping and Testing of a Rotating Electrical Machine With Linear Geometry for Shipboard Applications

Robust Fault-Tolerant Control of an Electro-Hydraulic Actuator With a Novel Nonlinear Unknown Input Observer

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