LPV fault estimation and FTC of a two-link manipulator

Abstract

This work is motivated by the challenge to develop an adaptive strategy for systems that are complex, have actuator faults and are difficult to control using linear methods. The novelty lies in combined use of LPV fault estimation and LPV fault compensation to meet active FTC performance requirements. The paper proposes a new design approach for systems which can be characterized via sets of LMIs and can be obtained using efficient interior-point algorithms. A polytopic LPV estimator is synthesized for generating actuator fault estimates used in an FTC scheme to schedule the nominal system state feedback gain, thereby maintaining the system performance over a wide operating range within a proposed polytopic model. The active FTC controller is a function of fault effect factors derived on-line. The effectiveness of the proposed method is demonstrated through a nonlinear two-link manipulator system with torque input faults at each joint.

A Survey of Linear Parameter-Varying Control Applications Validated by Experiments or High-Fidelity Simulations

“…Accordingly, the range of applications is large, including AMB systems [85], [88], [91], [95], [102], [106], [107], [114], robotic manipulators [82], [99], [103], [104], [116], [118], [119], [193], engine control [94], [100], [124], miscellaneous mechatronic systems [11], [79], [83], [84], [87], [89], [90], [98], [115], vehicle motion control [81], [86], [92], [97], [101], [125], academic test benches [77], [78], [105], [109], [121], noise canceling headsets and 8 V ectored thrust Aircraft Advanced flight Control. 9 Authors' note: Defence Evaluation and Research Agency.…”

Fault-Tolerant Control for LPV Systems Based on Fault Compensator

“…The control gain K of (11) is given for normal conditions. There are many FTC methods which redesign or switch the control gain after the fault is detected [18], [21], [22]. However, in the proposed FTC algorithm, without redesigning or switching the control gain for abnormal conditions, the control signal (11) guarantees bounded states of the system, since the fault compensation input v(k) continues the effort to compensate the actuator faults.…”

Fault-tolerant Control of a Service Robot using a LPV Robust Unknown Input Observer

“…See for e.g. [5], where the problem is stated for both additive and multiplicative faults on a simplified model, and [6], where the same method is applied for the compensation of the friction effects associated to mechanical joints. Data-driven techniques are useful when non-structured scenarios are faced, with the main drawback of requiring a high-computational on-line expense that might make their implementation unfeasible.…”