Passive actuator fault tolerant control for a class of MIMO nonlinear systems with uncertainties

Nasiri, Alireza; Nguang, Sing Kiong; Swain, Akshya; Almakhles, Dhafer

doi:10.1080/00207179.2017.1367102

Cited by 56 publications

(42 citation statements)

References 27 publications

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“…Sci. 2020, 10, 2917 5 of 12 longitudinal cyclic pitch θ 1s , which satisfy the constraints described in Equations (4)- (9). Descriptions of the helicopter dynamic equations are formulated as…”

Section: Helicopter Dynamic Model Formulationmentioning

confidence: 99%

“…The swashplate actuator failure is assumed to take place when the helicopter is in steady flights, which means the faulted actuator is stuck in the trimmed position of a level flight. We formulate the safe landing problem as an optimal control problem, with state variables x = (x, z, v x , v z , θ, q) and control inputs u = (θ 0 , θ 1s ), which are subject to Equations (4)- (9).…”

Section: Formulation Of Optimal Control Problemmentioning

confidence: 99%

“…Three types of actuator failure are explained in [2], consisting of the partial loss of effectiveness, control bias, and actuator stuck. Although plenty of work has been done on fixed-wing actuator faults or failures [3][4][5][6], most studies on helicopters have been focusing on the partial loss of effectiveness of actuators and actuator control bias [7][8][9][10][11][12]. However, limited work has focused on helicopter actuator stuck problems.…”

Section: Introductionmentioning

confidence: 99%

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Helicopter Safe Landing Trajectory after Main Rotor Actuator Failures

2020

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Main rotor actuator failure leads to catastrophic accidents for single main rotor helicopters. This paper focuses on safe landing trajectories after an actuator is locked in place by the remaining actuators, without introducing other control inputs. A general swashplate geometry is described, and new reconfiguration solutions for the control mixer are presented. The safe landing trajectories are obtained by formulating a nonlinear optimal control problem based on a nonlinear helicopter dynamic model and geometry constraints due to actuator failure. Safe landing trajectory results are shown with various initial forward velocities of all actuator failure cases. The safe initial speed boundaries are also explored by employing speed sweeps.

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Section: Helicopter Dynamic Model Formulationmentioning

confidence: 99%

Section: Formulation Of Optimal Control Problemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Helicopter Safe Landing Trajectory after Main Rotor Actuator Failures

2020

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“…The proposed ASMC is compared with that proposed in [18], [19], i.e. the adaptive law (6). This will be denoted as cASMC (conventional ASMC) for compactness.…”

Section: Case Study: Euler-lagrange Systemsmentioning

confidence: 99%

Overcoming the Underestimation and Overestimation Problems in Adaptive Sliding Mode Control

Roy

Lee

et al. 2019

IEEE/ASME Trans. Mechatron.

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Under-and over-estimation problems are commonly observed in conventional adaptive sliding mode control (ASMC). These problems refer to the fact that the adaptive controller gain unnecessarily increases when the states are approaching the sliding surface (overestimation) or improperly decreases when the states are getting far from it (underestimation). In this work, we propose a novel ASMC strategy that overcomes such issues. In contrast to the state of the art, the proposed strategy is effective even when a priori constant bound on the uncertainty cannot be imposed. Comparative results using two-link manipulator demonstrate improved performance as compared to the conventional ASMC. Experimental results on a biped robot confirm the effectiveness and robustness of the proposed method under various practical uncertainties.

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“…Sliding mode techniques are extensively being used in various applications of control problems. These applications include controller design [1], state estimation (or observer) [2][3][4], fault tolerant, diagnosis and isolation [5][6][7], and sliding mode quantizer (SMQ) or modulator [8,9]. SMQ, which is the focus of this study, occupies an important place in the implementation of control systems due to its robustness, simplicity and ability for converting input signals to switching signals represented by sequence of binary values −1's and +1's.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode control as binary‐based quantizers

Almakhles

2019

Asian Journal of Control

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In recent years, sliding mode quantizers (SMQs), where signals are converted to switching signals represented by sequence of binary values −1's and +1's, are increasingly being used in various applications including control of power converters, networked control systems (NCSs), one-bit control processing, etc.This paper derives the stability conditions of both continuous and discrete-time switched control systems which are embedded with SMQs and quasi-sliding mode quantizers (QSMQs), respectively. The optimal conditions of both SMQ and QSMQ, which assure that their outputs (binary values) optimally approximate their inputs, are established. The results of theoretical analysis are validated through numerical simulation.

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Passive actuator fault tolerant control for a class of MIMO nonlinear systems with uncertainties

Cited by 56 publications

References 27 publications

Helicopter Safe Landing Trajectory after Main Rotor Actuator Failures

Helicopter Safe Landing Trajectory after Main Rotor Actuator Failures

Overcoming the Underestimation and Overestimation Problems in Adaptive Sliding Mode Control

Sliding mode control as binary‐based quantizers

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