Fault-Tolerant Control for Systems With Unmatched Actuator Faults and Disturbances

Zhang, Kangkang; Yan, Xiangwu; Polycarpou, Marios M.

doi:10.1109/tac.2020.2997347

Cited by 45 publications

(8 citation statements)

References 26 publications

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“…Here, the condition

{r}_i^a={r}_i^b

is imposed on system (1) in Assumption 2 just for simplification of the later analysis and description. Similar limitation has been employed in Reference 29.…”

Section: System Description and Basic Assumptionsmentioning

confidence: 99%

System structure based decentralized sliding mode output tracking control for nonlinear interconnected systems

Ding

Yan

Mao

et al. 2022

Intl J Robust & Nonlinear

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In this article, a decentralized tracking control scheme is proposed for a class of nonlinear interconnected systems with uncertainties using sliding mode technique. Both matched nonlinear uncertainty and mismatched known nonlinear interconnections are considered. Under the condition that the nominal isolated subsystems have relative degrees, a geometric transformation is applied to transfer the interconnected system into a new nonlinear interconnected system with a special structure to facilitate the system analysis and design. Then, a composite sliding surface is designed in terms of tracking errors, and decentralized controllers are proposed to drive the system states to the designed sliding surface in finite time and maintain a sliding motion on it thereafter. A set of conditions are developed to guarantee that the output tracking errors converge to zero asymptotically while all system state variables are bounded. The considered interconnected systems are nonlinear and it is not required that either the isolated subsystems or the isolated nominal subsystems are linearizable.The desired output signals are allowed to be time-varying. Finally, the developed results are applied to an inverted coupled-pendulum system. Simulation demonstrates that the proposed control scheme is effective.

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“…Here, the condition

{r}_i^a={r}_i^b

is imposed on system (1) in Assumption 2 just for simplification of the later analysis and description. Similar limitation has been employed in Reference 29.…”

Section: System Description and Basic Assumptionsmentioning

confidence: 99%

System structure based decentralized sliding mode output tracking control for nonlinear interconnected systems

Ding

Yan

Mao

et al. 2022

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

show abstract

“…However, when some faults such as sensor and actuator faults occur, robust controllers are not strong enough to handle such situations. A fault-tolerant controller [24][25][26][27][28][29][30][31] is extremely useful for guaranteeing closed-loop control performance.…”

Section: Robust and Fault-tolerant Controlmentioning

confidence: 99%

“…Diagnosing those faults will improve the overall safety of UAVs. Second, in fault mitigations, robust [19][20][21][22][23] and fault-tolerant controllers [24][25][26][27][28][29][30][31] are also critical for UAV safety. Robust controllers can tolerate some small perturbations in the UAVs due to aging or external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Safety Enhancement of UAVs from the Signal Processing’s Perspectives: A Bird’s Eye View

Kwan

2021

Drones

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Unmanned air vehicles (UAVs) or drones have gained popularity in recent years. However, the US Federal Aviation Administration (FAA) is still hesitant to open up the national air space (NAS) to UAVs due to safety concerns because UAVs have several orders of magnitude of more accidents than manned aircraft. To limit the scope in this paper, we focus on large, heavy, and expensive UAVs that can be used for cargo transfer and search and rescue operations, not small radio-controlled toy drones. We first present a general architecture for enhancing the safety of UAVs. We then illustrate how signal processing technologies can help enhance the safety of UAVs. In particular, we provide a bird’s eye view of the application of signal processing algorithms on condition-based maintenance, structural health monitoring, fault diagnostics, and fault mitigation, which all play critical roles in UAV safety. Some practical applications are used to illustrate the importance of the various algorithms.

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“…Sliding-mode variational techniques are widely used in fault-tolerant tracking control systems due to their inherent robustness to uncertainties [23]. A based sliding mode and backstepping fault-tolerant control (FTC) scheme for the nonlinear systems with disturbances and actuator mismatch is proposed in [24]. A fixedtime sliding mode fault-tolerant controller in [25] is developed to compensate for the uncertain and actuator effectiveness faults of the robot system.…”

Section: Introductionmentioning

confidence: 99%

Global Prescribed Performance-Based Fault-Tolerant Control for Trajectory Tracking of the ACV With Uncertainty

Bai

Deng

2023

IEEE Access

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This paper focuses on a fixed-time prescribed performance-based Fault-tolerant controller that guarantees the global performance for the Trajectory tracking control of the air cushion vehicle (ACV). In the presence of faults, time-varying parameters and environmental disturbances, the proposed control system in this paper has good robustness and control performance. Firstly, an integrated observer for disturbances and faults is proposed to suppress all uncertainties in the system. Then a novel prescribed performance function is designed that does not need to be constrained by the initial value of the target errors while ensuring that it has fixed-time convergence performance. Global prescribed performance control has the advantage of separating the error initial conditions from the prescribed performance function. At the same time, combined with the global sliding mode control method, the fast convergence and robustness of the whole system are guaranteed. Finally, the simulation results verify the effectiveness of the control system.INDEX TERMS Air cushion vehicle, prescribed performance control, trajectory tracking, faulttolerant control.

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Fault-Tolerant Control for Systems With Unmatched Actuator Faults and Disturbances

Abstract: The version in the Kent Academic Repository may differ from the final published version. Users are advised to check http://kar.kent.ac.uk for the status of the paper. Users should always cite the published version of record.

Cited by 45 publications

References 26 publications

System structure based decentralized sliding mode output tracking control for nonlinear interconnected systems

System structure based decentralized sliding mode output tracking control for nonlinear interconnected systems

Safety Enhancement of UAVs from the Signal Processing’s Perspectives: A Bird’s Eye View

Global Prescribed Performance-Based Fault-Tolerant Control for Trajectory Tracking of the ACV With Uncertainty

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