Mode-independent fuzzy fault-tolerant variable sampling stabilization of nonlinear networked systems with both time-varying and random delays

Yang, Feisheng; Zhang, Huaguang; Hui, Guotao; Wang, Shenquan

doi:10.1016/j.fss.2012.02.010

Cited by 85 publications

(26 citation statements)

References 36 publications

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“…Theorem 1: for non-linear system (1) with abrupt faults and actuator faults (2) and (3), if Assumptions 1 and 2 are satisfied, the controller (41) with the state observer (15), and parameter adaptive laws (27) and (28), (33) and (34) and (42) and (43) can guarantee that all the signals in the closed-loop system remain bounded and the output error s 1 = y − y d converges to an adjustable neighbourhood of the origin. Moreover, the transient performance of the system output is guaranteed within the prescribed performance bound for all t ≥ 0 regardless of unknown non-linear faults and actuator faults.…”

Section: Stability Analysismentioning

confidence: 99%

“…For example, a number of aircraft accidents have been caused by actuator failures, such as the horizontal stabiliser or the rudder being stuck in an unknown position, leading to catastrophic failures. Therefore designing a controller to accommodate such failures and maintain acceptable system performance is particularly important [23][24][25][26][27].…”

Section: Introductionmentioning

confidence: 99%

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Prescribed performance fuzzy adaptive fault‐tolerant control of non‐linear systems with actuator faults

Tong

2014

IET Control Theory & Applications

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This study investigates the adaptive fuzzy fault-tolerant control (FTC) problem for a class of uncertain non-linear strict-feedback systems with unmeasured states. The considered non-linear systems contain unknown continuous functions and do not satisfy the matching condition. The actuator failures under study are types of both abrupt faults and lock-in-place and loss of effectiveness. The fuzzy logic systems are employed to approximate the unknown continuous functions, and a fuzzy state observer is developed and the unmeasured states are obtained. Under the framework of the backstepping design technique and incorporated by the dynamic surface control approach and predefined performance bounds, an adaptive fuzzy FTC method has been presented. From the Lyapunov stability analysis, it is shown that all the signals of the resulting closed-loop system are bounded and the tracking error surfaces remain within the prescribed performance bounds in the presence of unknown non-linear actuator faults. The simulation results and comparisons with the previous methods indicate the effectiveness of the proposed adaptive fuzzy FTC.

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Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Prescribed performance fuzzy adaptive fault‐tolerant control of non‐linear systems with actuator faults

Tong

2014

IET Control Theory & Applications

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“…Theorem 2: The first fault-tolerant controller configuration, given by (12)- (15), will guarantee that the tracking error e will be bounded.…”

Section: Stability Analysismentioning

confidence: 99%

“…In general, FTC methodologies can be classified into two types: passive FTC methodologies and active FTC methodologies [6,7]. During the last decades, there has been significant research activity in designing and analysing the passive FTC methodologies for NCSs [8][9][10][11][12][13][14][15][16][17][18]. Passive FTC methods consider system faults as special uncertainties and take no additional actions in response to the faults, whereas active FTC methodologies can reconfigure the controller by using the real-time fault information provided by the fault diagnosis scheme.…”

Section: Introductionmentioning

confidence: 99%

Integrated fault‐tolerant control methodology for non‐linear dynamical networked control systems subject to time‐varying delay

Fang

2014

IET Control Theory & Applications

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This study deals with the problem of designing an integrated fault-tolerant control (FTC) methodology for non-linear dynamical networked control systems subject to time-varying delay. For the convenience of residual generation, influence caused by network-induced delay is transformed into time-varying uncertainty, which facilitates further manipulation. A fault diagnosis scheme is utilised for fault detection and isolation. On the basis of the uncertainty and fault information obtained by the fault diagnosis procedure, an FTC component is developed to compensate for the effects of uncertainty and fault. In the absence of fault, a nominal controller is employed to deal with the system uncertainty. After fault detection estimator is activated, the controller is reconfigured to guarantee the boundedness of all the system signals until the fault is isolated. After the fault is isolated, the controller is reconfigured to improve the control performance by using the fault information generated by the isolation module. In addition, the stability of the proposed scheme is rigorously investigated. Finally, a simulation example is utilised to illustrate the performance of the proposed scheme.

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“…Therefore, we need to utilize neural network technique [275,276] and [277] to deal with ill-defined dynamics systems and unstructured uncertainties. Actually, the precise knowledge of robots, the environments, and the operator, are difficult to acquire.…”

Section: 1 Introductionmentioning

confidence: 99%

Intelligent Networked Teleoperation Control

Xia

2015

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PrefaceThis book describes a unifying framework to networked teleoperation systems cutting across multiple research fields including networked control system for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation, cooperative teleoperation, and some teleoperation application examples. Networked control has been deeply studied at the intersection of systems & control and robotics for a long time, and many scholarly books on the topic have been already published. Nevertheless, the approach remains active even in several new research fields, such as bilateral teleoperation, single master and multiple slaves, trilateral teleoperation, and multilateral teleoperation. Indeed, all the targeted problems of this book are rather new from a historical point of view and, to the best of our knowledge, there is no book or article covering such a broad class of problems within a unified teleoperation framework.Although networked teleoperation control and applications have attracted much research attention in the past decade, many fundamental problems are still either unexplored or less well understood. In particular, there still lacks a comprehensive framework that can cope with all the core issues in a systematic way. This motivated us to write the current monograph.The book presents theoretical explorations on several fundamental problems for several kinds of teleoperations. By integrating fresh concepts and state-of-the-art results to form a systematic approach for the motion control and identification, a fundamental theoretical framework is formed toward teleoperation systems. This book shall educate readers about the fundamental advances in the networked teleoperation research area. It is expected that the reader will require limited background knowledge to understand the various concepts and results outlined in the book. Besides elegantly unifying disparate problems, the networked teleoperation control approach also leads to practical advantages over other approaches, which will also be a benefit to readers. In the teleoperation part, readers will observe the inherent robustness of the networked controller against communication delays. Finally, a notable feature of this book is to provide not only theoretical results and techniques but also experimental case studies on a testbed of robotic systems, which is anticipated to highly motivate young students and researchers. v vi Preface careful scrutiny. We would also like to express our sincere appreciation to our co-workers who have contributed to the collaborative studies of Robotics. We are greatly indebted to our parents and families for their love, support, and sacrifice over the years. It is our pleasure to dedicate the book to them for their invisible yet invaluable contribution.

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Mode-independent fuzzy fault-tolerant variable sampling stabilization of nonlinear networked systems with both time-varying and random delays

Cited by 85 publications

References 36 publications

Prescribed performance fuzzy adaptive fault‐tolerant control of non‐linear systems with actuator faults

Prescribed performance fuzzy adaptive fault‐tolerant control of non‐linear systems with actuator faults

Integrated fault‐tolerant control methodology for non‐linear dynamical networked control systems subject to time‐varying delay

Intelligent Networked Teleoperation Control

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