Fuzzy Fault-Tolerant Control Applied on Two Inverted Pendulums with Nonaffine Nonlinear Actuator Failures

Abstract

This paper deals with the problem of fault-tolerant control for a class of perturbed nonlinear systems with nonlinear non-affine actuator faults. Fuzzy systems are integrated into the design of the control law to get rid of the system nonlinearities and the considered actuator faults. Two adaptive controllers are proposed in order to reach the control objective and ensure stability. The first term is an adaptive controller involved to mollify the system uncertainties and the considered actuator faults. Therefore, the second term is known as a robust controller introduced for the purpose of dealing with approximation errors and exogenous disturbances. In general, the designed controller allows to deal automatically with the exogenous disturbances and actuator faults with the help of an online adaption protocol. A Butterworth low-pass filter is utilized to avoid the algebraic loop issue and allows a reliable approximation of the ideal control law. A stability study is performed based on Lyapunov's theory. Two inverted pendulum example is carried out to prove the accuracy of the controller.

Control-error-based output-feedback adaptive decentralized neural network controller for interconnected uncertain strict-feedback nonlinear systems with input saturation

“…The proposed controller is distinct from the methods presented in Cui et al (2023), Zhang and Wang (2022), Guo and Zhang (2021), Jiang et al (2020), Niu et al (2018), and Abdelhamid et al (2023), which necessitated the knowledge of system states for their implementation. In contrast, the proposed controller can be executed using unmeasured states, making it particularly advantageous for practical systems.…”

Optimal adaptive fuzzy fault-tolerant control applied on a quadrotor attitude stabilization based on particle swarm optimization

“…However, many control strategies have been developed to deal with time-varying actuator faults. Bounemeur et al 13 have combined fault diagnosis (FD) with model predictive control (MPC) to control a hybrid actuator (pneumatics and electrics), while in the work by Bounemeur et al, 14 another active FT tracking controller based on Nussbaum-type function is built to get rid of time-varying actuator faults. In the work by Bounemeur and Chemachema, 15 an active fault-tolerant controller (AFTC) is developed using fuzzy logic systems (FLSs) and Nussbaum-type function under nonaffine nonlinear actuator faults.…”

“…Unlike in previous studies, 13,14,20 the actuator faults are considered as time-varying, which limit the range of the applicability. In this article, nonaffine nonlinear actuator faults are considered with challenging models and applied on a very unstable UAV to test the effectiveness of the proposed controller.…”

“…Unlike previous studies, 3–9,11–18,21 adaption law parameters tuning along with fuzzy initial values are handled manually. In contrast, in the presented article, the metaheuristics PSO algorithm is used to allow fast and automatic tuning of the fuzzy initial parameters and all adaption gains.…”