Interval observer framework for fault-tolerant control of linear parameter-varying systems

Lamouchi, Rihab; Raïssi, Tarek; Amairi, Messaoud; Aoun, Mohamed

doi:10.1080/00207179.2017.1286042

Cited by 37 publications

(29 citation statements)

References 24 publications

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“…Remark 1. For a practical system, e.g., aircraft system [47] and industrial system [48], it can always be linearized and decoupled into the form of system (8). e full-row rank condition of B is a general requirement for the system, see for example [18,49], which means that there must be enough control channels in the system, especially for actuator redundancy purpose.…”

Section: System Modelmentioning

confidence: 99%

Robust Finite-Time Tracking for Uncertain Linear Systems with Actuator Faults

2020

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In this paper, a robust finite-time fault-tolerant control (FTC) scheme is developed for uncertain linear systems in the presence of actuator faults. Since the system uncertainties and actuator faults are unknown, the controller parameters are updated online by the adaptive laws without the need for fault detection and isolation. It is proved that the proposed state-feedback model reference adaptive finite-time FTC scheme can guarantee that the tracking error converges to a small neighborhood of the origin in finite time. An application example for an aircraft lateral-directional dynamic system is presented to show the effectiveness of the proposed control scheme.

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Section: System Modelmentioning

confidence: 99%

Robust Finite-Time Tracking for Uncertain Linear Systems with Actuator Faults

2020

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“…and K y2 are a controller gain that can be chosen so that the characteristic polynomial associated to each flat output tracking error is Hurwitz. The characteristic polynomials of the Burnovsky systems (11) are defined as follows:…”

Section: Flatness-based Tracking Controlmentioning

confidence: 99%

“…are known values. When choosing the control input defined by equation (10) and considering that WMR is subjected to slippage, disturbance and noise, the two integral chains of the Burnovsky form (11) are modified as follows:…”

Section: Uncertain Kinematic Modelmentioning

confidence: 99%

“…In the recent years, interval observers have become a robust approach to dealing with the state estimation problems for a system affected by disturbances and/or uncertainties, which are supposed to be unknown but bounded. This theory was originally introduced in [8][9] and has been successfully applied in several applications [10][11][12][13]. Starting from the knowledge of the upper and lower limits of the initial conditions and the uncertainties, interval observers can be developed to produce upper and lower bounds of state variables of dynamical systems at every time instant.…”

Section: Introductionmentioning

confidence: 99%

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Guaranteed Tracking Controller for Wheeled Mobile Robot Based on Flatness and Interval Observer

Abadi

Mekki

Ramdani

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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This paper proposes a guaranteed tracking controller for a Wheeled Mobile Robot (WMR) based on the differential flatness theory and the interval observer. Using the flatness property, it is possible to transform the non linear WMR model into a canonical Brunovsky form, for which it is easier to create a state feedback controller. Since, in most real applications, the WMR is subjected to uncertainties such as slip, disturbance and noise, control algorithms must be modified to take into account those uncertainties. Therefore, based on the information of the upper and lower limits of the initial condition and all the uncertainties, an interval observer that generates an envelope enclosing every feasible state trajectory is developed. After that, based on the center of the obtained interval observer, a new control law is proposed to guarantee the tracking performance of the WMR despite the existence of un-measurable states and bounded uncertainties. The closedloop stability of the system is proven analytically using the Lyapunov theorem. A lot of numerical simulation is realized in order to demonstrate the efficiency of the suggested guaranteed tracking control scheme.

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“…In [2], interval state estimation is proposed for continuoustime LPV systems under the assumption that the vector of scheduling parameters is not available for measurements. A fault detection procedure and a fault tolerant control based on interval observers are proposed in [31,14] for LPV systems. A class of LPV systems containing both measured and unmeasured time-varying uncertain parameters is considered in [29] where a polytopic formulation of the estimation problem is developed.…”

Section: Introductionmentioning

confidence: 99%

On Interval Observer Design for Continuous-Time LPV Switched Systems

2020

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State estimation for switched systems with time-varying parameters has received a great attention during the past decades. In this paper, a new approach to design an interval observer for this class of systems is proposed. The scheduling vector is described by a convex combination so that the varying parameters belong into polytopes. The considered system is also subject to measurement noise and state disturbances which are supposed to be unknown but bounded. The proposed method guarantees both cooperativity and Input to State Stability (ISS) of the upper and lower observation errors. Sufficient conditions are given in terms of Linear Matrix Inequalities (LMIs) using a common quadratic Lyapunov function. Finally, a numerical example is provided to show the effectiveness of the designed observer.

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Interval observer framework for fault-tolerant control of linear parameter-varying systems

Cited by 37 publications

References 24 publications

Robust Finite-Time Tracking for Uncertain Linear Systems with Actuator Faults

Robust Finite-Time Tracking for Uncertain Linear Systems with Actuator Faults

Guaranteed Tracking Controller for Wheeled Mobile Robot Based on Flatness and Interval Observer

On Interval Observer Design for Continuous-Time LPV Switched Systems

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