Fault tolerant longitudinal aircraft control using non‐linear integral sliding mode

Alwi, Halim; Edwards, Christopher

doi:10.1049/iet-cta.2013.1029

Cited by 38 publications

(28 citation statements)

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“…SMC is a particular type of VSC, where the state of the system is driven and constrained to lie in a neighbourhood of the switching function, with the advantage of making the system insensitive to a particular class of uncertainty. VSC/SMC has been used successfully in many applications of FTC [9,10]. A reconfigurable SMC that achieves robust tracking after damage in an aircraft has been designed in [295] and [296].…”

Section: Variable Structure Control (Vsc) / Sliding Mode Control (Smc)mentioning

confidence: 99%

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Rotondo¹

2018

Springer Theses

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This thesis presents some contributions to the state-of-the-art of the fields of gainscheduling and fault tolerant control (FTC).In the area of gain-scheduling, the connections between the linear parameter varying (LPV) and Takagi-Sugeno (TS) paradigms are analyzed, showing that the methods for the automated generation of models by nonlinear embedding and by sector nonlinearity, developed for one class of systems, can be easily extended to deal with the other class. Then, two measures, based on the notions of overboundedness and region of attraction estimates, are proposed in order to compare different models and choose which one can be considered the best one. Later, the problem of designing state-feedback controllers for LPV systems has been considered, providing two main contributions. First, robust LPV controllers that can guarantee some desired performances when applied to uncertain LPV systems are designed, by using a double-layer polytopic description that takes into account both the variability due to the varying parameter vector and the uncertainty. Then, the idea of designing the controller in such a way that the required performances are scheduled by the varying parameters is explored, which provides an elegant way to vary online the behavior of the closed-loop system. In both cases, the problem reduces to finding a solution to a finite number of linear matrix inequalities (LMIs), which can be done efficiently using the available solvers.In the area of fault tolerant control, the thesis first shows that the aforementioned double-layer polytopic framework can be used for FTC, in such a way that different strategies (passive, active and hybrid) are obtained depending on the amount of available information. Later, an FTC strategy for LPV systems that involves a reconfigured reference model and virtual actuators is developed. It is shown that by including the saturations in the reference model equations, it is possible to design a model reference FTC system that automatically retunes the reference states whenever the system is affected by saturation nonlinearities. In this way, a graceful performance degradation in presence of actuator saturations is incorporated in an elegant way. Finally, the problem of FTC of unstable LPV systems subject to actuator saturations is considered. In this case, the design of the virtual actuator is performed in such a way that the convergence of the state trajectory to zero is assured despite the saturations and the appearance of faults. Also, it is shown that it is possible to obtain some guarantees about the tolerated delay between the fault occurrence and its isolation, and that the nominal controller can be designed so as to maximize the tolerated delay.i Resum Aquesta tesi presenta diverses contribucions a l'estat de l'art del control per planificació del guany i del control tolerant a fallades (FTC).Pel que fa al control per planificació del guany, s'analitzen les connexions entre els paradigmes dels sistemes lineals a paràmetres variants en el temps (LPV) i d...

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Section: Variable Structure Control (Vsc) / Sliding Mode Control (Smc)mentioning

confidence: 99%

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Rotondo¹

2018

Springer Theses

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“…(16) and (17). These conditions can be effectively solved by the cone complementarity linearization algorithm proposed in [55].…”

Section: Remarkmentioning

confidence: 99%

“…Excellent reviews of the design issues for fault-tolerant control systems (FTCSs) is given in [4][5][6][7] and a large number of frameworks and design methodologies are reported for FDD and FTC in [1][2][3][4][5][6][8][9][10][11][12][13][14][15][16] and references therein. It is worth to mention that, so far FTC design is applied to many practical applications such as aircrafts [8,17], aerial and space vehicles [12,13], and wind turbines [11] to increase their performance, safety, and reliability.…”

Section: Introductionmentioning

confidence: 99%

Stabilization of active fault‐tolerant control systems by uncertain nonhomogeneous markovian jump models

2016

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This article investigates the stabilization and control problems for a general active fault-tolerant control system (AFTCS) in a stochastic framework. The novelty of the research lies in utilizing uncertain nonhomogeneous Markovian structures to take account for the imperfect fault detection and diagnosis (FDD) algorithms of the AFTCS. The underlying AFTCS is supposed to be modeled by two random processes of Markov type; one characterizing the system fault process and the other describing the FDD process. It is assumed that the FDD algorithm is imperfect and provides inaccurate Markovian parameters for the FDD process. Specifically, it provides uncertain transition rates (TRs); the TRs that lie in an interval without any particular structures. This framework is more consistent with realworld applications to accommodate different types of faults. It is more general than the previously developed AFTCSs because of eliminating the need for an accurate estimation of the fault process. To solve the stabilizability and the controller design problems of this AFTCS, the whole system is viewed as an uncertain nonhomogeneous Markovian jump linear system (NHMJLS) with time-varying and uncertain specifications. Based on the multiple and stochastic Lyapunov function for the NHMJLS, first a sufficient condition is obtained to analyze the system stabilizability and then, the controller gains are synthesized. Unlike the previous fault-tolerant controllers, the proposed robust controller only needs to access the FDD process, besides it is easily obtainable through the existing optimization techniques. It is successfully tested on a practical inverted pendulum controlled by a fault-prone DC motor.

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“…The majority of the FTC methods that have appeared in the literature are based on linear time invariant (LTI) systems (see for example [1]). There are however notable exceptions: for example an observer based scheme for a specific class of input-output stable nonlinear systems is proposed in [2]; a passive FTC approach is proposed in [3] for a class of affine nonlinear systems considering actuator faults; and in [4], a FTC scheme for a specific class of nonlinear systems is proposed based on a sliding mode control allocation scheme incorporating a backstepping controller.…”

Section: Introductionmentioning

confidence: 99%

Real-time implementation of an Integral Sliding Mode Fault Tolerant Control scheme for LPV plants

Alwi

Edwards

Stroosma

et al. 2014

IEEE Trans. Ind. Electron.

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This paper proposes a fault tolerant control scheme for linear parameter varying systems based on integral sliding modes and control allocation, and describes the implementation and evaluation of the controllers on a 6 degree-of-freedom research flight simulator called SIMONA. The fault tolerant control scheme is developed using a linear parameter varying approach to extend ideas previously developed for linear time invariant systems, in order to cover a wide range of operating conditions. The scheme benefits from the combination of the inherent robustness properties of integral sliding modes (to ensure sliding occurs throughout the simulation) and control allocation, which has the ability to redistribute control signals to all available actuators in the event of faults/failures. Index TermsSliding mode control, Fault tolerance, Aerospace simulation. I. INTRODUCTIONThe most important facet of Fault Tolerant Control (FTC) systems is their ability to maintain closed-loop stability, and ideally a measure of performance, in the face of faults or failures in actuators or sensors. The majority of the FTC methods that have appeared in the literature are based on linear time invariant (LTI) systems (see for example [1]). There are however notable exceptions: for example an observer based scheme for a specific class of input-output stable nonlinear systems is proposed in [2]; a passive FTC approach is proposed in [3] for a class of affine nonlinear systems considering actuator faults; and in [4], a FTC scheme for a specific class of nonlinear systems is proposed based on a sliding mode control allocation scheme incorporating a backstepping controller.Linear parameter varying (LPV) systems are a special class of finite dimensional linear systems, in which the entries of the state space matrices continuously depend on a time varying parameter vector which belongs to a bounded compact set. Using LPV techniques, the control law can be automatically 'scheduled' with the operating conditions and guaranteed performance can be proved over a wide operating envelope. FDI and FTC methods designed for LPV models have appeared in the literature. In [5], a synthesis method using LMIs is presented in order to guarantee closed-loop stability in the case of multiple actuator faults. In [6] an FDI scheme based on the extension of residual generation concepts for LTI systems was presented and tested on a model of a B747-100/200.Sliding mode control (SMC) is attractive from an FTC stand point, since actuator faults can be modelled as matched uncertainty, which is precisely the class of uncertainty to which sliding modes are robust [7]. However SMC cannot directly deal with total actuator failures because the complete loss of effectiveness in a channel destroys the regularity of the sliding mode, and an unique equivalent control signal can no longer be determined. To obviate this short-coming, in over actuated systems, a combination of SMC and control allocation (CA) has recently been explored [8]. In this context, CA can be viewed a...

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Fault tolerant longitudinal aircraft control using non‐linear integral sliding mode

Cited by 38 publications

References 50 publications

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Stabilization of active fault‐tolerant control systems by uncertain nonhomogeneous markovian jump models

Real-time implementation of an Integral Sliding Mode Fault Tolerant Control scheme for LPV plants

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