Fault-tolerant tracking control for a non-linear twin-rotor system under ellipsoidal bounding

Abstract

A novel fault-tolerant tracking control scheme based on an adaptive robust observer for non-linear systems is proposed. Additionally, it is presumed that the non-linear system may be faulty, i.e., affected by actuator and sensor faults along with the disturbances, simultaneously. Accordingly, the stability of the robust observer as well as the fault-tolerant tracking controller is achieved by using the H∞ approach. Furthermore, unknown actuator and sensor faults and states are bounded by the uncertainty intervals for estimation quality assessment as well as reliable fault diagnosis. This means that narrow intervals accompany better estimation quality. Thus, to cope with the above difficulty, it is assumed that the disturbances are over-bounded by an ellipsoid. Consequently, the performance and correctness of the proposed fault-tolerant tracking control scheme are verified by using a non-linear twin-rotor aerodynamical laboratory system.

On the finite time stabilization via robust control for uncertain disturbed systems

“…Trajectories of controlled systems do not converge to a known fixed point for the stabilization problem when this phenomenon is latent. However, the uncertain-disturbed system's trajectory can arrive in a region of attraction around the origin or a known fixed point (Bhat and Bernstein, 2000;Haddad and Chellaboina, 2011;Khalil and Grizzle, 2002;Poznyak et al, 2014;Kukurowski et al, 2022). Indeed, an acceptable control law for a control system may cause the system's trajectory to go around the origin.…”

Distributed model reference control for synchronization of a vehicle platoon with limited output information and subject to periodical intermittent information

“…Thus, many controllers designed for leader-follower MAS can be implemented for the vehicle platoon, such as distributed cooperative state variable feedback control, model predictive control and slide-mode control as proposed by Zhang et al (2011), Franzè et al (2018) and Long et al (2014), respectively. The controller presented by Hamdi et al (2021) and Kukurowski et al (2022) also has the possibility to be implemented in a vehicle platoon. The development of a distributed controller for a vehicle platoon has also been carried out either specifically for a certain topology or for more general topologies.…”