Fault‐Tolerant Finite Frequency H_∞ Control for Uncertain Mechanical System with Input Delay and Constraint

Abstract

In this paper, a novel fault‐tolerant finite frequency H∞ controller (FFHC) is developed for uncertain mechanical system with input delay and constraint. First, the mathematical model of uncertain mechanical system is derived, where the uncertainties occur in mass, damping and stiffness matrices, respectively. Then, in view of the fact that the dominant resonance energies are caused by low‐order vibration modes of mechanical system, the finite frequency control algorithm is investigated to suppress these low‐order resonances peaks. By virtue of Lyapunov‐Krasovskii functional (LKF) and generalized Kalman‐Yakubovich‐Popov (GKYP) lemma, the desirable fault‐tolerant controller can be obtained by convex optimization. Numerical simulations verify the improvements and advantages of proposed cotroller in disturbance rejection when compared with the classic entire frequency H∞ controller (EFHC).

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Composite Disturbance‐Observer‐Based Control and Control for High Speed Trains with Actuator Faults

“…Generally speaking, the disturbance is a common factor in actual systems, such as [29][30][31][32][33]. In this paper, a harmonic disturbance is taken into account for HSTs with actuator faults.…”

Adaptive Fault Tolerant Control of Active Suspension Systems With Time-Varying Displacement and Velocity Constraints

“…The idea of fault-tolerant control was proposed by Niederlinski in 1971, and the advantage of fault-tolerant control is that it can control the car in a fault state compared with non-faulttolerant control, which can more accurately reflect the actual driving situation [24]. Then, scholars began to study fault tolerance from fault detection and nonlinear fault tolerance theory [25], [27], [28], [30]- [32], [37], [38]. With the development of modern control theory, fault-tolerant control has been studied and applied in vehicle suspension system.…”