Robust feedback linearization for input-constrained nonlinear systems with matched uncertainties

Kaheni, Mojtaba; Zarif, Mohammad Hadad; Kalat, Ali Akbarzadeh; Chisci, Luigi

doi:10.23919/ecc.2018.8550521

Cited by 5 publications

(1 citation statement)

References 22 publications

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“…Based on the above results, we can see that the actuator-sensor fault compensation method is more effective than the sensor fault compensation method presented previously [33]. With the implementation of powerful control methods, the impact of the control input signal is very large when the input signal is very high, as shown in [44,45]. However, when the control speed is in the allowable limits (no more than 25 mm/s), a fault compensation based robust fault-tolerant control method can greatly reduce the effects of faults after each closed control loop.…”

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confidence: 71%

Robust Control Optimization Based on Actuator Fault and Sensor Fault Compensation for Mini Motion Package Electro-Hydraulic Actuator

2021

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In recent years, electro-hydraulic systems have been widely used in many industries and have attracted research attention because of their outstanding characteristics such as power, accuracy, efficiency, and ease of maintenance. However, such systems face serious problems caused simultaneously by disturbances, internal leakage fault, sensor fault, and dynamic uncertain equation components, which make the system unstable and unsafe. Therefore, in this paper, we focus on the estimation of system fault and uncertainties with the aid of advanced fault compensation techniques. First, we design a sliding mode observer using the Lyapunov algorithm to estimate actuator faults that produce not only internal leakage fault but also disturbances or unknown input uncertainties. These faults occur under the effect of payload variations and unknown friction nonlinearities. Second, Lyapunov analysis-based unknown input observer model is designed to estimate sensor faults arising from sensor noises and faults. Third, to minimize the estimated faults, a combination of actuator and sensor compensation fault is proposed, in which the compensation process is performed due to the difference between the output signal and its estimation. Finally, the numerical simulations are performed to demonstrate the effectiveness of the proposed method obtained under various faulty scenarios. The simulation results show that the efficiency of the proposed solution is better than the traditional PID controller and the sensor fault compensation method, despite the influence of noises.

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confidence: 71%