Fault tolerant control design using adaptive control allocation based on the pseudo inverse along the null space

Tohidi, Seyed Shahabaldin; Sedigh, Ali Khaki; Buzorgnia, David

doi:10.1002/rnc.3518

Cited by 51 publications

(34 citation statements)

References 41 publications

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“…where I is the identity matrix with appropriate dimensions. Defining e z = z − z m andΘ = Θ − Θ * , wherẽ Θ can be considered as the deviation from the ideal parameter matrix, and subtracting (12) from (14), it is obtained thatė…”

Section: Control Allocatormentioning

confidence: 99%

“…There exist several different approaches to achieve this task. One way to allocate redundant actuators is to use the pseudo-inverse of the input matrix to produce individual actuator signals [12][13][14]. Another method is defining a cost function as a difference between the desired and achieved control signals and using optimization techniques to minize this function [15][16][17].…”

Section: Introductionmentioning

confidence: 99%

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Controlling a launch vehicle at exoatmospheric flight conditions via adaptive control allocation

Yıldız¹

2020

Turk J Elec Eng & Comp Sci

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The focus of this paper is the control of a reusable launch vehicle at exoatmospheric flight conditions, in the presence of actuator effectiveness uncertainty. Since during exoatmospheric flight, dynamic pressure is nonexistent, aerodynamic control surfaces cannot be used. Under these conditions, reaction control jet actuators can provide the necessary thrust to control the vehicle. Reaction control jets have only 2 states, namely, on and off, and continuous control inputs can be implemented with the help of pulse width modulation, which is also employed in this paper. A continuous controller is designed in the outer loop and a control allocator is used to distribute the total control input among redundant actuators, whose effectiveness are assumed to be unknown. The unknown actuator effectiveness is addressed with the help of an adaptive control allocator. A representative model of a reusable launch vehicle equipped with reaction control jets is used to demonstrate the effectiveness of the overall control scheme.

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Section: Control Allocatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Controlling a launch vehicle at exoatmospheric flight conditions via adaptive control allocation

Yıldız¹

2020

Turk J Elec Eng & Comp Sci

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“…Control allocation methods can be categorized into three main categories: pseudo inverse based methods ( [23]- [25]), optimization based methods ( [17], [26]- [28]), and dynamic control allocation ( [21], [22], [29]- [31]). A survey of control allocation can be found in [34], where the use of control allocation to address actuator faults is highlighted.…”

Section: Introductionmentioning

confidence: 99%

Pilot Induced Oscillation Mitigation for Unmanned Aircraft Systems: An Adaptive Control Allocation Approach

Tohidi

Yıldız

Kolmanovsky

2018

2018 IEEE Conference on Control Technology and Applications (CCTA)

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This paper proposes an adaptive control allocation method that can make unmanned aircraft systems recover from pilot induced oscillations. Pilot induced oscillations are undesired oscillations due to an unintentional and detrimental coupling between the aircraft and the pilot. These oscillations may be instigated due to disturbances, aggressive maneuvers and actuator saturation. Different from manned aircraft, pilot induced oscillations in unmanned aircraft systems are harder to handle due to communication time delays between the operator and the aircraft. The task of a conventional control allocator is to distribute the control effort among redundant actuators to realize a desired virtual control input. When actuators rate saturate, the difference between the desired and the achieved virtual control input introduces an effective time delay to the system dynamics which causes oscillations. In the proposed approach, instead of minimizing the error between the desired and achieved virtual control inputs, the derivative of this error is minimized which eliminates the introduced time delay effect and damps undesired oscillations. Differently from earlier works conducted by the authors, in this work, the proposed pilot induced oscillation mitigation methodology is developed for systems with parametric uncertainty. In the simulations, it is demonstrated that the proposed approach successfully damps pilot induced oscillations that are instigated by a high gain pilot command.

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“…The control gain varies based on the varying parameters scheduling among different linear time invariant systems. As an alternative and promising FTC approach, the adaptive control allocation technique is adopted in Tohidi et al based on the pseudo inverse in order to adaptively tolerate actuator faults. Recently, a growing number of researches() address an FTC design approach using the linear parameter–varying control technique.…”

Section: Introductionmentioning

confidence: 99%

Retrofit fault‐tolerant tracking control design of an unmanned quadrotor helicopter considering actuator dynamics

Liu

Chen

2017

Intl J Robust & Nonlinear

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Summary This paper presents a retrofit fault‐tolerant tracking control (FTTC) design method with application to an unmanned quadrotor helicopter (UQH). The proposed retrofit fault‐tolerant tracking controller is developed to accommodate loss‐of‐effectiveness faults in the actuators of UQH. First, a state feedback tracking controller acting as the normal controller is designed to guarantee the stability and satisfactory performance of UQH in the absence of actuator faults, while actuator dynamics of UQH are also considered in the controller design. Then, a retrofit control mechanism with integration of an adaptive fault estimator and an adaptive fault compensator is devised against the adverse effects of actuator faults. Next, the proposed retrofit FTTC strategy, which is synthesized by the normal controller and an additional reconfigurable fault compensating mechanism, takes over the control of the faulty UQH to asymptotically stabilize the closed‐loop system with an acceptable performance degradation in the presence of actuator faults. Finally, both numerical simulations and practical experiments are conducted in order to demonstrate the effectiveness of the proposed FTTC methodology on the asymptotic convergence of tracking error for several combinations of loss‐of‐effectiveness faults in actuators.

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Fault tolerant control design using adaptive control allocation based on the pseudo inverse along the null space

Cited by 51 publications

References 41 publications

Controlling a launch vehicle at exoatmospheric flight conditions via adaptive control allocation

Controlling a launch vehicle at exoatmospheric flight conditions via adaptive control allocation

Pilot Induced Oscillation Mitigation for Unmanned Aircraft Systems: An Adaptive Control Allocation Approach

Retrofit fault‐tolerant tracking control design of an unmanned quadrotor helicopter considering actuator dynamics

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