Data-based Fault Tolerant Control for Affine Nonlinear Systems Through Particle Swarm Optimized Neural Networks

In this paper, a data-based fault tolerant control(FTC) scheme is investigated for unknown continuous-time(CT)affine nonlinear systems with actuator faults. First, a neural network(NN) identifier based on particle swarm optimization(PSO) is constructed to model the unknown system dynamics. By utilizing the estimated system states, the particle swarm optimized critic neural network(PSOCNN) is employed to solve the Hamilton-Jacobi-Bellman equation(HJBE) more efficiently.Then, a data-based FTC scheme, which consists of the NN identifier and the fault compensator, is proposed to achieve actuator fault tolerance. The stability of the closed-loop system under actuator faults is guaranteed by the Lyapunov stability theorem. Finally, simulations are provided to demonstrate the effectiveness of the developed method.

Fault tolerant control based on stochastic distribution via RBF neural networks

A new fault tolerant control（FTC） via a controller reconfiguration approach for general stochastic nonlinear systems is studied.Different from the formulation of classical FTC methods,it is supposed that the measured information for the FTC is the probability density functions（PDFs） of the system output rather than its measured value.A radial basis functions（RBFs） neural network technique is proposed so that the output PDFs can be formulated in terms of the dynamic weighings of the RBFs neural network.As a result,the nonlinear FTC problem subject to dynamic relation between the input and the output PDFs can be transformed into a nonlinear FTC problem subject to dynamic relation between the control input and the weights of the RBFs neural network approximation to the output PDFs.The FTC design consists of two steps.The first step is fault detection and diagnosis（FDD）,which can produce an alarm when there is a fault in the system and also locate which component has a fault.The second step is to adapt the controller to the faulty case so that the system is able to achieve its target.A linear matrix inequality（LMI） based feasible FTC method is applied such that the fault can be detected and diagnosed.An illustrated example is included to demonstrate the efficiency of the proposed algorithm,and satisfactory results have been obtained.

Fault Tolerant Control for Networked Control Systems with Packet Loss and Time Delay

In this paper,a fault tolerant control with the consideration of actuator fault for a networked control system （NCS） with packet loss is addressed.The NCS with data packet loss can be described as a switched system model.Packet loss dependent Lyapunov function is used and a fault tolerant controller is proposed respectively for arbitrary packet loss process and Markovian packet loss process.Considering a controlled plant with external energy-bounded disturbance,a robust H ∞ fault tolerant controller is designed for the NCS.These results are also expanded to the NCS with packet loss and networked-induced delay.Numerical examples are given to illustrate the effectiveness of the proposed design method.

Model-Based Fault Tolerant Control for Hybrid Dynamic Systems with Sensor Faults

A model-based fault tolerant control approach for hybrid linear dynamic systems is proposed in this paper. The proposed method, taking advantage of reliable control, can maintain the performance of the faulty system during the time delay of fault detection and diagnosis (FDD) and fault accommodation (FA), which can be regarded as the first line of defence against sensor faults. Simulation results of a three-tank system with sensor fault are given to show the efficiency of the method.

Fault tolerant control for a robot collaborative system

A new fault-tolerant control scheme is proposed for a nonlinear collaborative system that contains two robot subsystems. When fault occurs in one subsystem, the fault-free subsystem is used to compensate the fault influence of the faulty one on the whole collaborative system. When the faulty subsystem could not repair itself or the repair process needs a long time, the controller of the fault-free subsystem is reconfigured using the fault diagnosis information and other measured infor- mation, leading to the fault tolerant control of the robot collaborative system. Simulations of fault tolerant control for the robot collaborative system show the effectiveness of the proposed method.

Fault Tolerant Control Scheme Design for Formation Flight Control System of Multiple Unmanned Aerial Vehicles

The command tracking problem of formation flight control system(FFCS)for multiple unmanned aerial vehicles(UAVs)with sensor faults is discussed.And the objective of the addressed control problem is to design a robust fault tolerant tracking controller such that,for the disturbances and sensor faults,the closed-loop system is asymptotically stable with a given disturbance attenuation level.A robust fault tolerant tracking control scheme,combining an observer with H∞ performance,is proposed.Furthermore,it is proved that the designed controller can guarantee asymptotic stability of FFCS despite sensor faults.Finally,a simulation of two UAV formations is employed to demonstrate the effectiveness of the proposed approach.

Accelerated Landweber iteration based control allocation for fault tolerant control of reusable launch vehicle

This paper presents a novel Fault Tolerant Control(FTC)scheme based on accelerated Landweber iteration and redistribution mechanism for a horizontal takeoff horizontal landing reusable launch vehicle(RLV).First,an adaptive law based on fixed-time non-singular fast terminal sliding mode control(NFTSMC),which focuses on the attitude tracking controller design for RLV in the presence of model couplings,parameter uncertainties and external disturbances,is proposed to produce virtual control command.On this basis,a novel Control Allocation(CA)based on accelerated Landwber iteration is presented to realize proportional allocation of virtual control command among the actuators according to the effective gain as well as the distance from the current position of actuator to corresponding saturation limit.Meanwhile a novel redistribution mechanism is introduced to redistribute oversaturated command among healthy actuators(non-faulty or redundant).The proposed method can be applied to a real-time FTC system so that the controller reconfiguring is not required in case of actuator faults.Finally,the effectiveness of the proposed method is demonstrated by numerical simulations.

Fault tolerant control based on neural network interval type-2 fuzzy sliding mode controller for octorotor UAV

In this paper, a robust controller for a six degrees of freedom （6 DOF） octorotor helicopter control is proposed in presence of actuator and sensor faults. Neural networks （NN）, interval type-2 fuzzy logic control （IT2FLC） approach and sliding mode control （SMC） technique are used to design a controller, named fault tolerant neural network interval type-2 fuzzy sliding mode controll,~r （FTNNIT2FSMC）, for each subsystem of the octorotor helicopter. The proposed control scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the number of rules for the fuzzy controller, and guaranteeing the stability and the robustness of the system. The simulation results show that the FTNNIT2FSMC can greatly alleviate the chattering effect, tracking well in presence of actuator and sensor faults.

Distributed active fault tolerant control design against actuator faults for multiple mobile robots

This paper investigates the active fault tolerant cooperative control problem for a team of wheeled mobile robots whose actuators are subjected to partial or severe faults during the team mission.The cooperative robots network only requires the interaction between local neighbors over the undirected graph and does not assume the existence of leaders in the network.We assume that the communication exists all the time during the mission.To avoid the system's deterioration in the event of a fault,a set of extended Kalman filters(EKFs)are employed to monitor the actuators'behavior for each robot.Then,based on the online information given by the EKFs,a reconfigurable sliding mode control is proposed to take an appropriate action to accommodate that fault.In this research study,two types of faults are considered.The first type is a partial actuator fault in which the faulty actuator responds to a partial of its control input,but still has the capability to continue the mission when the control law is reconfigured.In addition,the controllers of the remaining healthy robots are reconfigured simultaneously to move within the same capability of the faulty one.The second type is a severe actuator fault in which the faulty actuator is subjected to a large loss of its control input,and that lead the exclusion of that faulty robot from the team formation.Consequently,the remaining healthy robots update their reference trajectories and form a new formation shape to achieve the rest of the team mission.

Adaptive Fault Tolerant Control of Multi-time-scale Singularly Perturbed Systems

This paper studies the fault tolerant control, adaptive approach, for linear time-invariant two-time-scale and three-time-scale singularly perturbed systems in presence of actuator faults and external disturbances. First, the full order system will be controlled using v-dependent control law. The corresponding Lyapunov equation is ill-conditioned due to the presence of slow and fast phenomena. Secondly, a time-scale decomposition of the Lyapunov equation is carried out using singular perturbation method to avoid the numerical stiffness. A composite control law based on local controllers of the slow and fast subsystems is also used to make the control law ε-independent. The designed fault tolerant control guarantees the robust stability of the global closed-loop singularly perturbed system despite loss of effectiveness of actuators. The stability is proved based on the Lyapunov stability theory in the case where the singular perturbation parameter is sufficiently small. A numerical example is provided to illustrate the proposed method.

Active fault tolerant control design for stochastic Interval Type-2 Takagi-Sugeno fuzzy model

Purpose-The purpose of this paper is to look at the problem of fault tolerant control(FTC)for discrete time nonlinear system described by Interval Type-2 Takagi–Sugeno(IT2 TS)fuzzy model subjected to stochastic noise and actuator faults.Design/methodology/approach–An IT2 fuzzy augmented state observer is first developed to estimate simultaneously the system states and the actuator faults since this estimation is required for the design of the FTC control law.Furthermore,based on the information of the states and the faults estimate,an IT2 fuzzy state feedback controller is conceived to compensate for the faults effect and to ensure a good tracking performance between the healthy system and the faulty one.Sufficient conditions for the existence of the IT2 fuzzy controller and the IT2 fuzzy observer are given in terms of linear matrix inequalities which can be solved using a two-step computing procedure.Findings–The paper opted for simulation results which are applied to the three-tank system.These results are presented to illustrate the effectiveness of the proposed FTC strategy.Originality/value–In this paper,the problem of active FTC design for noisy and faulty nonlinear system represented by IT2 TS fuzzy model is treated.The developed IT2 fuzzy fault tolerant controller is designed such that it can guarantee the stability of the closed-loop system.Moreover,the proposed controller allows to accommodate for faults,presents a satisfactory state tracking performance and outperforms the traditional type-1 fuzzy fault tolerant controller.

Data-Driven Process Monitoring and Fault Tolerant Control in Wind Energy Conversion System with Hydraulic Pitch System

Wind energy is one of the widely applied renewable energies in the world. Wind turbine as the main wind energy converter at present has very complex technical system containing a huge number of components,actuators and sensors. However, despite of the hardware redundancy, sensor faults have often affected the wind turbine normal operation and thus caused energy generation loss. In this paper, aiming at the wind turbine hydraulic pitch system, data-driven design of process monitoring(PM) and diagnosis has been realized in the wind turbine benchmark. Fault tolerant control(FTC) strategies focused on sensor faults have also been presented here, where with the implementation of soft sensor the sensor fault can be handled and the performance of the system is improved. The performance of this method is demonstrated with the wind turbine benchmark provided by Math Works.

Event-triggered sampling and fault-tolerant control co-design based on fault diagnosis observer

A co-design scheme of event-triggered sampling mechanism and active fault tolerant control(FTC) is developed. Firstly,a fault diagnosis observer is designed to estimate both the fault and the state simultaneously by using the event-triggered sampled output. Some H∞constraints between the estimation errors and the event-triggered sampling mechanism are established to ensure the estimation accuracy. Then, based on the constraints and the obtained fault information, an event-triggered detector and a static fault tolerant controller are co-designed to guarantee the stability of the faulty system and to reduce the sensor communication cost.Furthermore, the problem of the event detector and dynamic FTC co-design is also investigated. Simulation results of an unstable batch reactor are finally provided to illustrate the effectiveness of the proposed method.

Power maximization of variable-speed variable-pitch wind turbines using passive adaptive neural fault tolerant control

Power maximization has always been a practical consideration in wind turbines. The question of how to address optimal power capture, especially when the system dynamics are nonlinear and the actuators are subject to unknown faults, is significant. This paper studies the control methodology for variable-speed variable-pitch wind turbines including the effects of uncertain nonlinear dynamics, system fault uncertainties, and unknown external disturbances. The nonlinear model of the wind turbine is presented, and the problem of maximizing extracted energy is formulated by designing the optimal desired states. With the known system, a model-based nonlinear controller is designed; then, to handle uncertainties, the unknown nonlinearities of the wind turbine are estimated by utilizing radial basis function neural networks. The adaptive neural fault tolerant control is designed passively to be robust on model uncertainties, disturbances including wind speed and model noises, and completely unknown actuator faults including generator torque and pitch actuator torque. The Lyapunov direct method is employed to prove that the closed-loop system is uniformly bounded. Simulation studies are performed to verify the effectiveness of the proposed method.

Fault tolerant control in an unmanned bicycle robot via sliding mode theory

In this work,a new active fault tolerant control(FTC)is developed for an unmanned bicycle robot based on an integration between a sliding mode control(SMC),fault detection(FD),and fault estimation(FE)via a residual signal.A sliding surface in accordance with the fault tolerant sliding mode control(FTSMC)is designed for the bicycle robot to get multiple exciting features such as fast transient response with finite time convergence,small overshoot and quick stabilisation in the presence of an actuator fault.To obtain an effective performance for the FTSMC,a fault estimation system is employed and in order to attain estimation,an extended Kalman filter(EKF)as an estimator and a change detection algorithm called cumulative sum(CUSUM)as a residual evaluation function are developed.The innovative features of the proposed approach,that is FTSMC,are verified when compared with the other up‐to‐date control techniques like fault tolerant model‐based predictive control with feedback linearisation(FTMPC+FBL)and fault tolerant linear quadratic regulator with feedback linearisation(FTLQR+FBL)on an unmanned bicycle robot.

Fault Tolerant Control of Multiphase Multilevel Motor Drives-Technical Review

The multiphase multilevel motor drives are a promising solution for some high-power and high-reliability applications,since they have multiple power conversion routes,a large amount of redundant voltage vectors,higher equivalent switching frequencies and superior harmonic performance.It has great significance to exploit their remedial control strategies in depth to fully utilize their high fault tolerant capabilities.This paper will present an updated technical review of fault tolerant control schemes for multiphase multilevel motor drives.Based on exemplification of the diode neutral-point-clamping three-level(DNPC-3L)inverters and T-type NPC three-level(TNPC-3L)inverters fed asymmetric six-phase PMSM drives,the study is taken for both phase-leg faults and switch faults.Furthermore,the discussion on multiple-switch faults,short-circuit switch faults and switch and leg hybrid faulty conditions are discussed in this paper.

Control Strategies for Digital Twin Systems

With the continuous breakthrough in information technology and its integration into practical applications, industrial digital twins are expected to accelerate their development in the near future. This paper studies various control strategies for digital twin systems from the viewpoint of practical applications.To make full use of advantages of digital twins for control systems, an architecture of digital twin control systems, adaptive model tracking scheme, performance prediction scheme, performance retention scheme, and fault tolerant control scheme are proposed. Those schemes are detailed to deal with different issues on model tracking, performance prediction, performance retention, and fault tolerant control of digital twin systems. Also, the stability of digital twin control systems is analysed. The proposed schemes for digital twin control systems are illustrated by examples.

Actuator Fault Monitoring and Fault Tolerant Control in Distillation Columns

This paper presents, from a practical viewpoint accommodation in distillation columns. Addressing faults in an investigation of real-time actuator fault detection, propagation and industrial processes, coupled with the growing demand for higher performance, improved safety and reliability necessitates implementation of less complex alternative control strategies in the events of malfunctions in actuators, sensors and or other system components. This work demonstrates frugality in the design and implementation of fault tolerant control system by integrating fault detection and diagnosis techniques with simple active restructurable feedback controllers and with backup feedback signals and switchable reference points to accommodate actuator fault in distillation columns based on a priori assessed control structures. A multivariate statistical process monitoring based fault detection and diagnosis technique through dynamic principal components analysis is integrated with one-point control or alternative control structure for prompt and effective fault detection, isolation and accommodation. The work also investigates effects of disturbances on fault propagation and detection. Specifically, the reflux and vapor boil-up control strategy used for a binary distillation column during normal operation is switched to one point control of the more valued product by utilizing the remaining healthy actuator. The proposed approach was implemented on two distillation processes： a simulated methanol-water separation column and the benchmark Shell standard heavy oil fractionation process to assess its effectiveness.

Open-circuit Fault-tolerant Control Strategy Based on Five-level Power Converter for SRM System

Switched reluctance motor power converters are prone to open-circuit faults because it need to withstand large voltages and currents.Due to the small number of traditional asymmetrical half bridge topology switches,it is difficult to carry out fault tolerant control when power converters has an open-circuit fault,resulting in larger output torque ripple.This paper presents a five-level power converter based on the traditional asymmetric half-bridge power converter.The five-level topology has more switching states and can work in multi-level mode.Based on the topology,different excitation and demagnetization voltages can be choose at different speeds.A fault-tolerance strategy is developed to decrease the influence of the open-circuit fault.The five-level power converter has four switches per phase,and two of them will be used in one of the operating mode.So the remaining two of the switches can be used for safe backup,enabling fault-tolerant control when an open-circuit occur.Since each phase of the five-level power converter proposed in this paper is independent of each other,a reasonable control strategy can be used to avoid the unbalance of the midpoint potential.Finally,the topology and fault-tolerant strategy proposed in this paper are verified by simulation and experiment.

Adaptive sliding mode backstepping control for near space vehicles considering engine faults

A fault tolerant control methodology based adaptive sliding mode(ASM) backstepping is proposed for near space vehicle(NSV) attitude control system under engine faults. The proposed scheme combined adaptive backstepping with the sliding mode control strategy could guarantee the system’s stability and track desired signals under external disturbances and engine faults. Firstly, attitude mode description and the engine faulty model are given. Secondly, a nominal control law is designed.Thirdly, a sliding mode observer is given later in order to estimate both the information of engine faults and external disturbances. An adaptive sliding mode technology based on the previous nominal control law is developed via updating faulty parameters. Finally,analyze the system’s fault-tolerant performance and reliability through experiment simulation, which verifies the proposed design of fault-tolerant control can tolerate engine faults, as well as the strong robustness for external disturbance.