Experimental Study of Sensor Fault-Tolerant Control for an Electro-Hydraulic Actuator Based on a Robust Nonlinear Observer

Nguyen, Tan Van; Ha, Cheolkeun

doi:10.3390/en12224337

Cited by 17 publications

(11 citation statements)

References 34 publications

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“…Theorem 2: For the system (8), with the NUIO in (13), (14), if the control input signal is proposed as (38) with its parameter estimation law addressed as (33) and (39), that does not only guarantee the stability of the closed-loop control but also maintain good tracking control under faulty conditions.…”

Section: B Adaptive Backstepping Terminal Sliding Mode Controller With Rbf Approximatormentioning

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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Section: B Adaptive Backstepping Terminal Sliding Mode Controller With Rbf Approximatormentioning

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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“…Fault-Tolerant Control (FTC) is implemented by compensating the actuator and sensor faults through UIO and SMO models. The residual has been proposed by [34][35][36][37][38], which is calculated as:…”

Section: Fault Tolerant Control Based General Residual and The Actuator And Sensor Fault Compensationmentioning

confidence: 99%

“…Thence, several actuator and sensor failure estimation algorithms have been developed. Actuator fault estimation is performed based on the UIO model, which is designed using the Lyapunov analysis and the linear matrix inequality (LMI) optimization algorithm to determine observer gain [28][29][30][31][32][33][34][35][36][37][38]. In [29], a UIO model is implemented utilizing Bayesian filter equations and estimates the states in two steps: time update and measurement update.…”

Section: Introductionmentioning

confidence: 99%

“…A sensor fault-tolerant control (SFTC) was developed to enhance the robust position tracking control capabilities of a class of electro-hydraulic actuators known as small motion packages (MMPs). This technique utilizes the PID controller to ensure the position response, then to obtain the desired results as shown in [33][34][35][36][37]. The gain parameters of the UIO model are achieved by solving the control error equations based on the LMI optimization algorithm; if the algorithm is feasible, the UIO system reaches asymptotic stability.…”

Section: Introductionmentioning

confidence: 99%

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Robust Control Optimization Based on Actuator Fault and Sensor Fault Compensation for Mini Motion Package Electro-Hydraulic Actuator

2021

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In recent years, electro-hydraulic systems have been widely used in many industries and have attracted research attention because of their outstanding characteristics such as power, accuracy, efficiency, and ease of maintenance. However, such systems face serious problems caused simultaneously by disturbances, internal leakage fault, sensor fault, and dynamic uncertain equation components, which make the system unstable and unsafe. Therefore, in this paper, we focus on the estimation of system fault and uncertainties with the aid of advanced fault compensation techniques. First, we design a sliding mode observer using the Lyapunov algorithm to estimate actuator faults that produce not only internal leakage fault but also disturbances or unknown input uncertainties. These faults occur under the effect of payload variations and unknown friction nonlinearities. Second, Lyapunov analysis-based unknown input observer model is designed to estimate sensor faults arising from sensor noises and faults. Third, to minimize the estimated faults, a combination of actuator and sensor compensation fault is proposed, in which the compensation process is performed due to the difference between the output signal and its estimation. Finally, the numerical simulations are performed to demonstrate the effectiveness of the proposed method obtained under various faulty scenarios. The simulation results show that the efficiency of the proposed solution is better than the traditional PID controller and the sensor fault compensation method, despite the influence of noises.

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“…Various methodologies for this topic were proposed. Nguyen et al [38], [39] employed a nonlinear UIO to detect the sensor fault on the mini motion package EHS. Nahian et al [40] used an extended Kalman-Bucy unknown input observer to detect the sensor fault and estimate the system state and developed an FTC for the EHS.…”

Section: Introductionmentioning

confidence: 99%

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

et al. 2021

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This paper presents a fault-tolerant control (FTC) based on impedance control and full state feedback backstepping sliding mode control (FBSMC) algorithm for an n degree of freedoms (n-DOF) serial hydraulic manipulator under the presence of matched and mismatched uncertainties and sensor faults in the constrained framework. These faulty signals, generated from unknown constant or time-variant offset values, happen on both manipulator joint angles and force sensors; thereby degrading the system performance. Therefore, to address both matched and mismatched uncertainties and signal faults, the system dynamics subjects to the sensor faults is mathematically modeled. Then, the robust fault estimation algorithm based on extended state observer (ESO) is proposed to estimate the system state and faulty signals for the FTC design to achieve the force and position tracking performance. System stability of the proposed control scheme is theoretically proven by performing Lyapunov theorems. Finally, comparative simulation results are given on a 3-DOF serial hydraulic manipulator to evaluate the effectiveness of the proposed fault estimation and FTC methodology.INDEX TERMS Sensor fault estimation, extended state observer (ESO), fault-tolerant control (FTC), force control, impedance control.

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Experimental Study of Sensor Fault-Tolerant Control for an Electro-Hydraulic Actuator Based on a Robust Nonlinear Observer

Cited by 17 publications

References 34 publications

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

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

Robust Control Optimization Based on Actuator Fault and Sensor Fault Compensation for Mini Motion Package Electro-Hydraulic Actuator

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

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