共查询到20条相似文献，搜索用时 31 毫秒
1.
In this paper, an adaptive output feedback fault tolerant control (FTC) based on actuator switching is proposed for a class of single-input single-output (SISO) nonlinear systems with uncertain parameters and possible actuator failures, for which a set of healthy actuators are available as backups. While high-gain K-filters are utilized to estimate the unmeasured states, an adaptive control law is designed to compensate for the parameter uncertainties and certain actuator failures, an actuator switching strategy based on a set of appropriately designed monitoring functions (MFs) is proposed to tackle those serious actuator failures, make tracking error satisfy prescribed transient and steady-state performance and guarantee closed-loop signal boundedness. 相似文献
2.
This paper studied an adaptive actuator fault-tolerant control scheme for the flexible Euler–Bernoulli beam in the three-dimensional space with output constraints and uncertain end load. The dynamic models are represented by partial differential equations (PDEs) and ordinary differential equations (ODEs). When part of the actuator fails, an adaptive control scheme is designed to regulate the vibration and stabilize the flexible three-dimensional Euler–Bernoulli beam. Barrier Lyapunov Function (BLF) is adopted to realize output constraints of the system. Adaptive control law with projection mapping operator is designed to compensate for the end load which is uncertain and bounded. The goal of this paper is to suppress the displacement of the flexible three-dimensional Euler–Bernoulli beam which can be constrained in given bounds under actuator fault and uncertain, bounded end load. It is confirmed that the proposed control scheme can deal with the vibration, adaptive actuator fault-tolerant control, uncertain and bounded end load and output constraints of the system simultaneously. Finally, numerical simulations illustrate the effectiveness and feasibility of the method. 相似文献
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This paper is concerned with integrated event-triggered fault estimation (FE) and sliding mode fault-tolerant control (FTC) for a class of discrete-time Lipschtiz nonlinear networked control systems (NCSs) subject to actuator fault and disturbance. First, an event-triggered fault/state observer is designed to estimate the system state and actuator fault simultaneously. And then, a discrete-time sliding surface is constructed in state-estimation space. By the use of a reformulated Lipschitz property and delay system analysis method, the sliding mode dynamics and state/fault error dynamics are converted into a unified linear parameter varying (LPV) networked system model by taking into account the event-triggered scheme, actuator fault, external disturbance and network-induced delay. Based on this model and with the aid of Lyapunov–Krasovskii functional method, a delay-dependent sufficient condition is derived to guarantee the stability of the resulting closed-loop system with prescribed H∞ performance. Furthermore, an observed-based sliding mode FTC law is synthesized to make sure the reachability of the sliding surface. Finally, simulation results are conducted to verify the effectiveness of the proposed method. 相似文献
5.
Xuan Liu Ding Zhai Jiuxiang Dong Qingling Zhang 《Journal of The Franklin Institute》2018,355(1):273-290
In this paper, the problem of adaptive fuzzy fault-tolerant control is investigated for a class of switched uncertain pure-feedback nonlinear systems under arbitrary switching. The considered actuator failures are modeled as both lock-in-place and loss of effectiveness. By utilizing mean value theorem, the considered pure-feedback systems are transformed into a class of switched nonlinear strict-feedback systems. Under the framework of backstepping design technique and common Lyapunov function (CLF), an adaptive fuzzy fault-tolerant control (FTC) method with predefined performance bounds is developed. It is proved that under the proposed controller, all the signals of the close-loop systems are bounded and the state tracking error for each step remains within the prescribed performance bound (PPB) regardless of actuator faults and the system switchings. In addition, the tracking errors and magnitudes of control inputs can be reduced by adjusting the PPB parameters of errors in the first and last steps. The simulation results are provided to show the effectiveness of the proposed control scheme. 相似文献
6.
《Journal of The Franklin Institute》2021,358(17):8943-8968
This paper addresses the stabilization issue of linear time delay system with input saturation and distinct input delays via predictor feedback boundary control algorithm by employing transport partial differential equations (PDEs). First, the addressed ordinary differential equation (ODE) system with input delay is equivalently represented as a cascade of an ODE and transport PDEs. Second, by employing the backstepping Volterra integral transformation technique, the equivalent cascade system is transformed into a stable target system, whose kernels are solved by the constraints satisfying transport PDEs. Third, based on the boundary conditions of the obtained invertible transformation, the proposed feedback control law can be formulated. Fourth, by applying semigroup operator theory, the well-posedness of the resulting system is proved and consequently, novel exponential stability conditions of the addressed system are established. Then, the domain of attraction region under the given actuator saturation constraints is estimated with the help of the solution of obtained stability conditions. Finally, a demonstrative simulation example is offered to verify the feasibility and usefulness of the results. 相似文献
7.
In this paper, a decentralized asymptotic fault tolerant control system is proposed for near space vehicle (NSV) attitude dynamics. First, NSV reentry mode is described, and the actuator failure model is developed whose behavior is described by high-order dynamics. Next, the multi-model based fault diagnosis and identification (FDI) algorithm is proposed for high order actuator dynamics, which can accurately diagnose and identify the fault in short time. Based on sliding mode, command filter, and backstepping technique, using information of FDI, a constrained fault tolerant control (FTC) is designed for reentry NSV. Finally, simulation results are given to demonstrate the effectiveness and potential of the proposed FTC scheme. 相似文献
8.
《Journal of The Franklin Institute》2022,359(11):5458-5487
In this paper, a novel fast attitude adaptive fault-tolerant control (FTC) scheme based on adaptive neural network and command filter is presented for the hypersonic reentry vehicles (HRV) with complex uncertainties which contain parameter uncertainties, un-modeled dynamics, actuator faults, and external disturbances. To improve the performance of closed-loop FTC, command filter and neural network are introduced to reconstruct system nonlinearities that are related to complex uncertainties. Compared with the FTC scheme with only neural network, the FTC scheme with command filter and neural network has fewer controller design parameters so that the computational complexity is decreased and the control efficiency is improved, which is of great significance for HRV. Then, the adaptive backstepping fault-tolerant controller based on command filter and neural network is designed, which can solve the complexity explosion problem in the standard backstepping control and the small uncertainty problem in the backstepping control only containing command filter. Moreover, to improve the approximation accuracy of the neural network-based universal approximator, an adaptive update law of neural network weights is designed by using the convex optimization technique. It is proved that the presented FTC scheme can ensure that the closed-loop control system is stable and the tracking errors are convergent. Finally, simulation results are carried out to verify the superiority and effectiveness of the presented FTC scheme. 相似文献
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In this paper, a distributed control protocol is presented for discrete-time heterogeneous multi-agent systems in order to achieve formation consensus against link failures and actuator/sensor faults under fixed and switching topologies. A model equivalent method is proposed to deal with the heterogeneous system consists of arbitrary order systems with different parameters. Based on graph theory and Lyapunov theory, stability conditions to solve formation consensus problem are developed for the underlying heterogeneous systems with communication link failures. In order to tolerate actuator/sensor faults, a distributed adaptive controller is proposed based on fault compensation. The desired control is designed by linear matrix inequality approach together with cone complementarity linearisation algorithm. After applying the new control scheme to heterogeneous systems under the directed topologies with link failures and faults, the resulting closed-loop heterogeneous system is validated to be stable. The effectiveness of the new formation consensus control strategy and its robustness are verified by simulations. 相似文献
10.
This paper is concerned with the exponential stabilization problem for a class of diffusion processes described by a linear parabolic partial differential equation (PDE) using mobile collocated actuators and sensors. Each collocated actuator/sensor pair is capable of moving within the respective spatial domain divided in advance and a mode indicator function is employed to indicate the different modes for all actuator/sensor pairs according to whether each actuator/sensor pair is static or mobile. By utilizing Lyapunov direct method, an integrated design of switching controllers and mobile actuator/sensor guidance laws for the diffusion process is developed such that the resulting closed-loop system is exponentially stable. Finally, numerical simulations are presented to illustrate the effectiveness of the proposed design method. 相似文献
11.
Active fault tolerant control design for reusable launch vehicle using adaptive sliding mode technique 总被引：1，自引：0，他引：1
Zhifeng Gao Bin Jiang Peng Shi Moshu Qian Jinxing Lin 《Journal of The Franklin Institute》2012,349(4):1543-1560
In this paper, the problem of active fault tolerant control for a reusable launch vehicle (RLV) with actuator fault using both adaptive and sliding mode techniques is investigated. Firstly, the kinematic equations and dynamic equations of RLV are given, which represent the characteristics of RLV in reentry flight phase. For the dynamic model of RLV in faulty case, a fault detection scheme is proposed by designing a nonlinear fault detection observer. Then, an active fault tolerant tracking strategy for RLV attitude control systems is presented by making use of both adaptive control and sliding mode control techniques, which can guarantee the asymptotic output tracking of the closed-loop attitude control systems in spite of actuator fault. Finally, simulation results are given to demonstrate the effectiveness of the developed fault tolerant control scheme. 相似文献
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Wangkui Liu Yiyin Wei Mingzhe Hou Guangren Duan 《Journal of The Franklin Institute》2019,356(9):4785-4810
In this paper, a novel adaptive integrated guidance and control (IGC) scheme is proposed for skid-to-turn (STT) missile with partial state constraints and actuator faults. Considering the strict-feedback form of the IGC model, the dynamic surface control (DSC) approach is adopted to design the IGC scheme. To prevent the attack angle, sideslip angle and velocity deflection angle from violating the constraints, the barrier Lyapunov function (BLF) and modified saturation function are employed in the IGC design procedure. Moreover, an auxiliary system is constructed to remove the adverse effects that caused by the modified saturation function. The adaptive laws are constructed to estimate the actuation effectiveness of actuators and the upper bounds of lumped uncertainties in the IGC model. It is theoretically shown that all signals in the closed-loop system are bounded while the state constraints are not violated in presence of actuator faults and uncertainties. Numerical simulation results are presented to verify the effectiveness and robustness of the proposed IGC scheme. 相似文献
14.
Shanzhi Li Haoping Wang Abdel Aitouche Nicolai Christov 《Journal of The Franklin Institute》2018,355(16):8194-8212
This paper presents an active fault tolerant control (FTC) for doubly fed induction generator (DFIG) with actuator fault and disturbance using Takagi–Sugeno (TS) fuzzy model. The control structure has two parts: fault and disturbance estimation part and FTC part. First, a TS fuzzy model is used to describe the DFIG system. Using a special linear transformation, the original system is decoupled into three independent subsystems: state subsystem without fault and disturbance, disturbance subsystem without fault, and fault subsystem without disturbance. By solving linear matrix inequalities (LMIs), a TS fuzzy observer is designed for the state subsystem without fault and disturbance. Second, estimations of faults and disturbance are obtained using the other subsystem models. Third, an active FTC scheme is developed to reduce the effect of disturbance and actuator faults. Finally, the performance of the proposed FTC is tested for a wind turbine system based on DFIG with actuator faults and disturbance. The simulation results demonstrate that the new FTC scheme makes possible to obtain an efficient fault and disturbance estimation and to reduce the peak current in the transient process. 相似文献
15.
《Journal of The Franklin Institute》2023,360(2):862-886
In this paper, a learning-based active fault-tolerant control (FTC) scheme for robot manipulators with uncertainties and actuator faults is proposed. Unlike traditional FTC methods, with dynamic learning theory, both uncertainties and actuator faults can be accurately identified/learned by radial basis function networks. Based on the learned knowledge, dynamical classifiers and experience-based controllers corresponding to different fault modes are constructed. With the help of dynamical classifiers, fault detection and isolation can be obtained rapidly and accurately, and the correct experience-based controller (instead of the controller reconfigured online) corresponding to the current fault system is selected to compensate for faults, and superior control performance is achieved, even in the presence of faults. The simulation studies demonstrate the feasibility of the proposed FTC method. 相似文献
16.
The study aims to explore the optimal actuator switching scheme of observer-based event-triggered state feedback control for distributed parameter systems. The performance of distributed parameter systems is improved through the observer-based event-triggered control, in which the state feedback is updated only when a triggered event happens. In such an event-triggered mechanism, the event-based closed-loop system and minimum time interval between consecutive events are bounded. Based on finite horizon linear quadratic regulator (LQR) optimal control, the optimal switching algorithm is proposed based on the event-triggered mechanism during an unfixed time interval. Finally, the proposed scheme is verified through a simulation case. 相似文献
17.
Stephen L. Campbell 《Journal of The Franklin Institute》2018,355(9):3853-3872
This paper is concerned with reliable H∞?control for saturated linear Markov jump systems with uncertain transition rates and asynchronous jumped actuator failure. The actuator failures are assumed to occur randomly under the Markov process with a different jumping mode from the system jumping mode. In considering the mixed-mode-dependent state feedback controller, both H∞ stochastic stability analysis for closed-loop system with completely accessible transition rates and uncertain transition rates are investigated. Moreover, based on the obtained stability conditions, the H∞?control problems are investigated, and the controller gains can be obtained by solving a convex optimization problem with minimizing H∞ performance as objective and linear matrix inequalities (LMIs) as constraints. The problem of designing state feedback controllers such that the estimate of the domain of attraction is enlarged is also formulated and solved as an optimization problem with LMI constraints. Simulation results are presented to illustrate the effectiveness of the proposed results. 相似文献
18.
《Journal of The Franklin Institute》2022,359(8):3366-3388
This paper studies the cooperative fault-tolerant formation control problem of tracking a dynamic leader for heterogeneous multiagent systems consisting of multipile unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with actuator faults under switching directed interaction topologies. Based on local neighborhood formation information, the distributed fault-tolerant formation controllers are constructed to ensure that all follower UAVs and UGVs can accomplish the demanding formation configuration in the state space and track the dynamic leader’s trajectory. By incorporating the sliding mode control and adaptive control technique, the actuator faults and unknown parameters of follower agents can be compensated. Through the theoretical analysis, it is proved that the cooperatively semiglobally uniformly ultimately boundedness of the closed-loop system is guaranteed, and the formation tracking errors converge to a small adjustable neighborhood of the origin. A simulation example is introduced to show the validity of the proposed distributed fault-tolerant formation control algorithm. 相似文献
19.
《Journal of The Franklin Institute》2023,360(4):3137-3161
This paper presents the distributed control design for a class of spatially interconnected continuous-time time-varying delay (SICTD) systems under input saturation. A distributed controller and distributed anti-windup compensator (AWC) are proposed based on the distributed structure of the SICTD system. Then, a sufficient condition is derived to guarantee the asymptotic stability and performance of the closed-loop system under the saturation constraints. We have also provided an algorithm for obtaining the AWC parameters by employing the elimination lemma and the cone complementary linearization approach. The proposed anti-windup compensation methodology can also be employed to compensate for the actuator saturation of the spatially interconnected delay-free systems. Finally, two practical examples are presented to verify the effectiveness of the proposed AWC design method. 相似文献
20.
This paper deals with the fault tolerant control (FTC) design for a Vertical Takeoff and Landing (VTOL) aircraft subject to external disturbances and actuator faults. The aim is to synthesize a fault tolerant controller ensuring trajectory tracking for the nonlinear uncertain system represented by a Takagi–Sugeno (T–S) model. In order to design the FTC law, a proportional integral observer (PIO) is adopted which estimate both of the faults and the faulty system states. Based on the Lyapunov theory and ?2 optimization, the trajectory tracking performance and the stability of the closed loop system are analyzed. Sufficient conditions are obtained in terms of linear matrix inequalities (LMI). Simulation results show that the proposed controller is robust with respect to uncertainties on the mechanical parameters that characterize the model and secures global convergence. 相似文献