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A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems
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作者 Pingfan Liu Shaocheng Tong 《Journal of Automation and Intelligence》 2024年第2期111-118,共8页
This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. ... This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach. 展开更多
关键词 Underactuated wheeled mobile robots system FINITE-TIME Fuzzy adaptive fault-tolerant control OUTPUT-FEEDBACK Intermittent actuator faults
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Finite-time fault-tolerant control of teleoperating cyber physical system against faults 被引量:1
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作者 PAN Chengwei LIU Xia +1 位作者 CHEN Yong LI Meng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2023年第2期469-478,共10页
This paper studies a finite-time adaptive fractionalorder fault-tolerant control(FTC)scheme for the slave position tracking of the teleoperating cyber physical system(TCPS)with external disturbances and actuator fault... This paper studies a finite-time adaptive fractionalorder fault-tolerant control(FTC)scheme for the slave position tracking of the teleoperating cyber physical system(TCPS)with external disturbances and actuator faults.Based on the fractional Lyapunov stability theory and the finite-time stability theory,a fractional-order nonsingular fast terminal sliding mode(FONFTSM)control law is proposed to promote the tracking and fault tolerance performance of the considered system.Meanwhile,the adaptive fractional-order update laws are designed to cope with the unknown upper bounds of the unknown actuator faults and external disturbances.Furthermore,the finite-time stability of the closed-loop system is proved.Finally,comparison simulation results are also provided to show the validity and the advantages of the proposed techniques. 展开更多
关键词 teleoperating cyber physical system(TCPS) fractional Lyapunov stability fault-tolerant control(FTC) finite-time stability
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Disturbance observer-based fuzzy fault-tolerant control for high-speed trains with multiple disturbances
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作者 王千龄 马彩青 林雪 《Chinese Physics B》 SCIE EI CAS CSCD 2023年第10期383-391,共9页
The fault-tolerant control problem is investigated for high-speed trains with actuator faults and multiple disturbances.Based on the novel train model resulting from the Takagi–Sugeno fuzzy theory, a sliding-mode fau... The fault-tolerant control problem is investigated for high-speed trains with actuator faults and multiple disturbances.Based on the novel train model resulting from the Takagi–Sugeno fuzzy theory, a sliding-mode fault-tolerant control strategy is proposed. The norm bounded disturbances which are composed of interactive forces among adjacent carriages and basis running resistances are rearranged by the fuzzy linearity technique. The modeled disturbances described as an exogenous system are compensated for by a disturbance observer. Moreover, a sliding mode surface is constructed, which can transform the stabilization problem of position and velocity into the stabilization problem of position errors and velocity errors, i.e., the tracking problem of position and velocity. Based on the parallel distributed compensation method and the disturbance observer, the fault-tolerant controller is solved. The Lyapunov theory is used to prove the stability of the closed-loop system. The feasibility and effectiveness of the proposed fault-tolerant control strategy are illustrated by simulation results. 展开更多
关键词 fault-tolerant control high-speed trains disturbance observer fuzzy logic
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Evaluating the Performance of Fault-Tolerant S2A vs. In-Loop Controller Models for Ethernet-Based NCS
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作者 Eslam Moustafa Hassan Halawa +1 位作者 Ramez Daoud Hassanein Amer 《Intelligent Control and Automation》 2014年第2期81-90,共10页
Two different controller-level fault-tolerant models for Ethernet-based Networked Control Systems (NCSs) are presented in this paper. These models are studied using unmodified Fast and Gigabit Ethernet. The first is a... Two different controller-level fault-tolerant models for Ethernet-based Networked Control Systems (NCSs) are presented in this paper. These models are studied using unmodified Fast and Gigabit Ethernet. The first is an in-loop controller model while the second is a direct Sensor to Actuator (S2A) model. OMNeT++ simulations showed the success of both models in meeting system end-to-end delay and strict zero packet loss (with no over-delayed packets) requirements. It was shown in the literature that the S2A model has a lower end-to-end delay than the in-loop controller model. It will be shown here that, on the one hand, the in-loop fault-tolerant model performs better in terms of less total end-to-end delay than the S2A model in the fault-free situation. While, on the other hand, in the scenario with the failed controller(s), the S2A model was shown to have less total end-to-end delay. 展开更多
关键词 NETWORKED control Systems ETHERNET OMNET++ Sensor Actuator Networks fault-tolerANCE
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Research on robust fault-tolerant control for networked control system with packet dropout 被引量:50
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作者 Huo Zhihong Fang Huajing 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2007年第1期76-82,共7页
A kind of networked control system with network-induced delay and packet dropout, modeled on asynchronous dynamical systems was tested, and the integrity design of the networked control system with sensors failures an... A kind of networked control system with network-induced delay and packet dropout, modeled on asynchronous dynamical systems was tested, and the integrity design of the networked control system with sensors failures and actuators failures was analyzed using hybrid systems technique based on the robust fault-tolerant control theory. The parametric expression of controller is given based on the feasible solution of linear matrix inequality. The simulation results are provided on the basis of detailed theoretical analysis, which further demonstrate the validity of the proposed schema. 展开更多
关键词 Networked control system (NCS) fault-tolerant control (FTC) Asynchronous dynamical systems (ADS) Integrity design Packet dropout Time delay
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Fault-Tolerant Control Research for Networked Control System under Communication Constraints 被引量:11
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作者 HUO Zhi-Hong FANG Hua-Jing 《自动化学报》 EI CSCD 北大核心 2006年第5期659-666,共8页
Implementing a control system over a communication network induces inevitable time delays that may degrade performance and even cause instability. One of the most effective ways to reduce the negative effect of delays... Implementing a control system over a communication network induces inevitable time delays that may degrade performance and even cause instability. One of the most effective ways to reduce the negative effect of delays on the performance of networked control system (NCS) is to reduce network traffic. In this paper, adjustable deadbands are explored as a solution to reduce network traffic in NCS. A method of fault-tolerant control of networked control system is presented, which takes into account system response as well as network traffic. The integrity design for a kind of NCS with sensor failures and actuator failures is analyzed based on robust fault-tolerant control theory and information scheduling. After detailed theoretical analysis, the paper also provides the simulation results, which further validate the proposed scheme. 展开更多
关键词 Networked control system (NCS) deadbands fault-tolerant control (FTC) integrity design time delay
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An LMI Method to Robust Iterative Learning Fault-tolerant Guaranteed Cost Control for Batch Processes 被引量:11
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作者 王立敏 陈曦 高福荣 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2013年第4期401-411,共11页
Based on an equivalent two-dimensional Fornasini-Marchsini model for a batch process in industry, a closed-loop robust iterative learning fault-tolerant guaranteed cost control scheme is proposed for batch processes w... Based on an equivalent two-dimensional Fornasini-Marchsini model for a batch process in industry, a closed-loop robust iterative learning fault-tolerant guaranteed cost control scheme is proposed for batch processes with actuator failures. This paper introduces relevant concepts of the fault-tolerant guaranteed cost control and formulates the robust iterative learning reliable guaranteed cost controller (ILRGCC). A significant advantage is that the proposed ILRGCC design method can be used for on-line optimization against batch-to-batch process uncertainties to realize robust tracking of set-point trajectory in time and batch-to-batch sequences. For the convenience of implementation, only measured output errors of current and previous cycles are used to design a synthetic controller for iterative learning control, consisting of dynamic output feedback plus feed-forward control. The proposed controller can not only guarantee the closed-loop convergency along time and cycle sequences but also satisfy the H∞performance level and a cost function with upper bounds for all admissible uncertainties and any actuator failures. Sufficient conditions for the controller solution are derived in terms of linear matrix inequalities (LMIs), and design procedures, which formulate a convex optimization problem with LMI constraints, are presented. An example of injection molding is given to illustrate the effectiveness and advantages of the ILRGCC design approach. 展开更多
关键词 two-dimensional Fornasini-Marchsini model batch process iterative learning control linear matrix inequality fault-tolerant guaranteed cost control
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Adaptive fault-tolerant controller design for airbreathing hypersonic vehicle with input saturation 被引量:12
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作者 Haibin Sun Shihua Li Changyin Sun 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2013年第3期488-499,共12页
The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle (AHV) with actuator faults and external disturbances. Firstly, a fault-tolerant control strategy is... The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle (AHV) with actuator faults and external disturbances. Firstly, a fault-tolerant control strategy is presented for the longitudinal model of an AHV, which guarantees that velocity and altitude track their reference trajectories at an exponential convergence rate. However, this method needs to know the minimum value of the actuator efficiency factor and the upper bound of the external disturbances, which makes it not easy to implement. Then an improved adaptive fault-tolerant control scheme is proposed, where two adaptive laws are employed to estimate the upper bound of the external disturbances and the minimum value of the actuator efficiency factor, respectively. Secondly, the problem of designing a control scheme with control constraints is further considered, and a new adaptive fault-tolerant control strategy with input saturation is designed to guarantee that velocity and altitude track their reference trajectories. Finally, simulation results are given to show the effectiveness of the proposed methods. 展开更多
关键词 airbreathing hypersonic vehicle (AHV) fault-tolerant control (FTC) adaptive control input saturation.
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Backstepping-based active fault-tolerant control for a class of uncertain SISO nonlinear systems 被引量:6
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作者 Meng Lingya Jiang Bin 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第6期1263-1270,共8页
Active fault-tolerant control is investigated for a class of uncertain SISO nonlinear flight control systems based on the adaptive observer, feedback linearization and backstepping theory.Firstly an adaptive observer ... Active fault-tolerant control is investigated for a class of uncertain SISO nonlinear flight control systems based on the adaptive observer, feedback linearization and backstepping theory.Firstly an adaptive observer is constructed to estimate the fault in the faulty system.A new fault updating law is presented to simplify the assumption conditions of the adaptive observer.The asymptotical stability of the observer and the uniform ultimate boundedness of the fault estimation error are guaranteed by Lyapunov theorem.Then a backstepping-based active fault-tolerant controller is designed for the faulty system.The asymptotical stability of the closed-loop system and uniform ultimate boundedness of the tracking error are proved based on Lyapunov theorem.The effectiveness of the proposed scheme is demonstrated through the numerical simulation of a flight control system. 展开更多
关键词 fault-tolerant control fault diagnosis NONLINEAR BACKSTEPPING adaptive observer flight control.
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Fault-Tolerant Control of a CPG-Governed Robotic Fish 被引量:5
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作者 Yueqi Yang Jian Wang +1 位作者 Zhengxing Wu Junzhi Yu 《Engineering》 SCIE EI 2018年第6期861-868,共8页
Fault tolerance is essential for the maneuverability of self-propelled biomimetic robotic fish in real-world aquatic applications.This paper explores the fault-tolerance control problem of a free-swimming robotic fish... Fault tolerance is essential for the maneuverability of self-propelled biomimetic robotic fish in real-world aquatic applications.This paper explores the fault-tolerance control problem of a free-swimming robotic fish with multiple moving joints and a stuck tail joint.The created control system is composed of two main components:a feedback controller and a feedforward compensator.Specifically,the bio-inspired central pattern generator-based feedback controller is designed to make the robotic fish robust to external disturbances,while the feedforward compensator speeds up the convergence of the overall control system.Simulations are performed for control system analysis and performance validation of the faulty robotic fish.The experimental results demonstrate that the proposed fault-tolerant control method is able to effectively regulate the faulty robotic fish,allowing it to complete the desired motion in the presence of damage and thereby improving both the stability and the lifetime of the real robotic system. 展开更多
关键词 fault-tolerant control Robotic fish Motion control Feedback controller FEEDFORWARD COMPENSATOR
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Output feedback based adaptive robust fault-tolerant control for a class of uncertain nonlinear systems 被引量:6
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作者 Shreekant Gayaka Bin Yao 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2011年第1期38-51,共14页
An adaptive robust approach for actuator fault-tolerant control of a class of uncertain nonlinear systems is proposed.The two chief ways in which the system performance can degrade following an actuator-fault are unde... An adaptive robust approach for actuator fault-tolerant control of a class of uncertain nonlinear systems is proposed.The two chief ways in which the system performance can degrade following an actuator-fault are undesirable transients and unacceptably large steady-state tracking errors.Adaptive control based schemes can achieve good final tracking accuracy in spite of change in system parameters following an actuator fault,and robust control based designs can achieve guaranteed transient response.However,neither adaptive control nor robust control based fault-tolerant designs can address both the issues associated with actuator faults.In the present work,an adaptive robust fault-tolerant control scheme is claimed to solve both the problems,as it seamlessly integrates adaptive and robust control design techniques.Comparative simulation studies are performed using a nonlinear hypersonic aircraft model to show the effectiveness of the proposed scheme over a robust adaptive control based faulttolerant scheme. 展开更多
关键词 fault-tolerant system actuator fault adaptive control robust control.
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Time-varying fault-tolerant formation tracking based cooperative control and guidance for multiple cruise missile systems under actuator failures and directed topologies 被引量:8
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作者 XU Xingguang WEI Zhenyan +1 位作者 REN Zhang LI Shusheng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2019年第3期587-600,共14页
This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant forma... This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant formation tracking process for the multiple cruise missile system is divided into the guidance loop and the control loop. Then protocols are constructed to accomplish distributed fault-tolerant formation tracking in the guidance loop with the adaptive updating mechanism, in the condition where neither the knowledge about actuator malfunctions nor any global information of the communication topology remains available. Moreover, sufficient conditions to accomplish formation tracking are presented, and it is shown that the multiple cruise missile system can carry on the predefined time-varying fault-tolerant control (FTC) formation tracking through the active disturbances rejection controller (ADRC) and the proportion integration (PI) controller by the way of the fault-tolerant protocol utilizing the designed strategies, in the event of actuator failures. At last, numerical analysis and simulation are designed to verify the theoretical results. 展开更多
关键词 fault-tolerant formation tracking consensus-based CRUISE MISSILE active disturbances REJECTION controller (ADRC)
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Robust H-infinity fault-tolerant control for uncertain descriptor systems by dynamical compensators 被引量:7
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作者 BingLIANG GuangrenDUAN 《控制理论与应用(英文版)》 EI 2004年第3期288-292,共5页
The problem of robust H-infinity fault-tolerant control against sensor failures for a class of uncertain descriptor systems via dynamical compensators is considered. Based on H-infinity theory in descriptor systems, a... The problem of robust H-infinity fault-tolerant control against sensor failures for a class of uncertain descriptor systems via dynamical compensators is considered. Based on H-infinity theory in descriptor systems, a sufficient condition for the existence of dynamical compensators with H-infinity fault-tolerant function is derived and expressions for the gain matrices in the compensators are presented. The dynamical compensator guarantees that the resultant colsed-loop system is admissible; furthermore, it maintains certain H-infinity norm performance in the normal condition as well as in the event of sensor failures and parameter uncertainties. A numerical example shows the effect of the proposed method. 展开更多
关键词 fault-tolerant control H-infinity control Uncertain descriptor systems Sensor failures
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Rule-based Fault Diagnosis of Hall Sensors and Fault-tolerant Control of PMSM 被引量:12
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作者 SONG Ziyou LI Jianqiu +3 位作者 OUYANG Minggao GU Jing FENG Xuning LU Dongbin 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2013年第4期813-822,共10页
Hall sensor is widely used for estimating rotor phase of permanent magnet synchronous motor(PMSM). And rotor position is an essential parameter of PMSM control algorithm, hence it is very dangerous if Hall senor fault... Hall sensor is widely used for estimating rotor phase of permanent magnet synchronous motor(PMSM). And rotor position is an essential parameter of PMSM control algorithm, hence it is very dangerous if Hall senor faults occur. But there is scarcely any research focusing on fault diagnosis and fault-tolerant control of Hall sensor used in PMSM. From this standpoint, the Hall sensor faults which may occur during the PMSM operating are theoretically analyzed. According to the analysis results, the fault diagnosis algorithm of Hall sensor, which is based on three rules, is proposed to classify the fault phenomena accurately. The rotor phase estimation algorithms, based on one or two Hall sensor(s), are initialized to engender the fault-tolerant control algorithm. The fault diagnosis algorithm can detect 60 Hall fault phenomena in total as well as all detections can be fulfilled in 1/138 rotor rotation period. The fault-tolerant control algorithm can achieve a smooth torque production which means the same control effect as normal control mode (with three Hall sensors). Finally, the PMSM bench test verifies the accuracy and rapidity of fault diagnosis and fault-tolerant control strategies. The fault diagnosis algorithm can detect all Hall sensor faults promptly and fault-tolerant control algorithm allows the PMSM to face failure conditions of one or two Hall sensor(s). In addition, the transitions between health-control and fault-tolerant control conditions are smooth without any additional noise and harshness. Proposed algorithms can deal with the Hall sensor faults of PMSM in real applications, and can be provided to realize the fault diagnosis and fault-tolerant control of PMSM. 展开更多
关键词 electric vehicle permanent-magnet synchronous motor(PMSM) Hall sensors rule-based fault diagnosis fault-tolerant control
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Robust fault-tolerant controller design for linear time-invariant systems with actuator failures:an indirect adaptive method 被引量:7
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作者 Xiaozheng JIN Guanghong YANG Yanping LI 《控制理论与应用(英文版)》 EI 2010年第4期471-478,共8页
In this paper,indirect adaptive state feedback control schemes are developed to solve the robust fault-tolerant control (FTC) design problem of actuator fault and perturbation compensations for linear time-invariant... In this paper,indirect adaptive state feedback control schemes are developed to solve the robust fault-tolerant control (FTC) design problem of actuator fault and perturbation compensations for linear time-invariant systems.A more general and practical model of actuator faults is presented.While both eventual faults on actuators and perturbations are unknown,the adaptive schemes are addressed to estimate the lower and upper bounds of actuator-stuck faults and perturbations online,as well as to estimate control effectiveness on actuators.Thus,on the basis of the information from adaptive schemes,an adaptive robust state feed-back controller is designed to compensate the effects of faults and perturbations automatically.According to Lyapunov stability theory,it is shown that the robust adaptive closed-loop systems can be ensured to be asymptotically stable under the influence of actuator faults and bounded perturbations.An example is provided to further illustrate the fault compensation effectiveness. 展开更多
关键词 fault-tolerant control Actuator failures Adaptive robust control Asymptotic stability
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Research on fault-tolerant control of networked control systems based on information scheduling 被引量:5
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作者 Huo Zhihong Zhang Zhixue Fang Huajing 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第5期1024-1028,共5页
A kind of networked control system is studied; the networked control system with noise disturbance is modeled based on information scheduling and control co-design. Augmented state matrix analysis method is introduced... A kind of networked control system is studied; the networked control system with noise disturbance is modeled based on information scheduling and control co-design. Augmented state matrix analysis method is introduced, and robust fault-tolerant control problem of networked control systems with noise disturbance under actuator failures is studied. The parametric expression of the controller under actuator failures is given. Furthermore, the result is analyzed by simulation tests, which not only satisfies the networked control systems stability, but also decreases the data information number in network channel and makes full use of the network resources. 展开更多
关键词 networked control systems fault-tolerant control information scheduling linear matrix inequality.
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H_∞ Robust Fault-Tolerant Controller Design for an Autonomous Underwater Vehicle’s Navigation Control System 被引量:4
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作者 程相勤 曲镜圆 +1 位作者 严浙平 边信黔 《Journal of Marine Science and Application》 2010年第1期87-92,共6页
In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating c... In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness. 展开更多
关键词 AUV navigation control robust H∞ fault-tolerant control gain variations LMI
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Guaranteed Cost Active Fault-tolerant Control of Networked Control System with Packet Dropout and Transmission Delay 被引量:5
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作者 Xiao-Yuan Luo Mei-Jie Shang +1 位作者 Cai-Lian Chen Xin-Ping Guan 《International Journal of Automation and computing》 EI 2010年第4期509-515,共7页
The problem of guaranteed cost active fault-tolerant controller (AFTC) design for networked control systems (NCSs) with both packet dropout and transmission delay is studied in this paper. Considering the packet d... The problem of guaranteed cost active fault-tolerant controller (AFTC) design for networked control systems (NCSs) with both packet dropout and transmission delay is studied in this paper. Considering the packet dropout and transmission delay, a piecewise constant controller is adopted. With a guaranteed cost function, optimal controllers whose number is equal to the number of actuators are designed, and the design process is formulated as a convex optimal problem that can be solved by existing software. The control strategy is proposed as follows: when actuator failures appear, the fault detection and isolation unit sends out the information to the controller choosing strategy, and then the optimal stabilizing controller with the smallest guaranteed cost value is chosen. Two illustrative examples are given to demonstrate the effectiveness of the proposed approach. By comparing with the existing methods, it can be seen that our method has a better performance. 展开更多
关键词 Networked control system (NCS) packet dropout transmission delay active fault-tolerant control (AFTC) guaranteed cost controller.
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Robust H_∞ guaranteed cost satisfactory fault-tolerant control for discrete-time systems with quadratic D stabilizability 被引量:5
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作者 Xiaodong Han Jiangong Liu +2 位作者 Dexiao Xie Dengfeng Zhang Zhiquan Wang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2010年第3期496-502,共7页
The problem of robust H∞ guaranteed cost satisfactory fault-tolerant control with quadratic D stabilizability against actuator failures is investigated for a class of discrete-time systems with value-bounded uncertai... The problem of robust H∞ guaranteed cost satisfactory fault-tolerant control with quadratic D stabilizability against actuator failures is investigated for a class of discrete-time systems with value-bounded uncertainties existing in both the state and control input matrices.Based on a more practical and general model of actuator continuous gain failures,taking the transient property,robust behaviour on H∞ performance and quadratic cost performance requirements into consideration,sufficient conditions for the existence of satisfactory fault-tolerant controller are given and the effective design steps with constraints of multiple performance indices are provided.Meanwhile,the consistency of the regional pole index,H∞ norm-bound constraint and cost performance indices is set up for fault-tolerant control.A simulation example shows the effectiveness of the proposed method. 展开更多
关键词 fault-tolerant control actuator failures consistency theory quadratic D stabilizability.
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Adaptive fault-tolerant control based on boundary estimation for space robot under joint actuator faults and uncertain parameters 被引量:4
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作者 Rong-Hua Lei Li Chen 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2019年第6期964-971,共8页
Since the joint actuator of the space robot executes the control instructions frequently in the harsh space environment,it is prone to the partial loss of control effectiveness(PLCE)fault.An adaptive fault-tolerant co... Since the joint actuator of the space robot executes the control instructions frequently in the harsh space environment,it is prone to the partial loss of control effectiveness(PLCE)fault.An adaptive fault-tolerant control algorithm is designed for a space robot system with the uncertain parameters and the PLCE actuator faults.The mathematical model of the system is established based on the Lagrange method,and the PLCE actuator fault is described as an effectiveness factor.The lower bound of the effectiveness factors and the upper bound of the uncertain parameters are estimated by an adaptive strategy,and the estimated value is fed back to the control algorithm.Compared with the traditional fault-tolerant algorithms,the proposed algorithm does not need to predetermine the lower bound of the effectiveness factor,hence it is more in line with the actual engineering application.It is proved that the algorithm can guarantee the stability of the closed-loop system based on the Lyapunov function method.The numerical simulation results show that the proposed algorithm can not only compensate for the uncertain parameters,but also can tolerate the PLCE actuator faults effectively,which verifies the effectiveness and superiority of the control scheme. 展开更多
关键词 Space robot Actuator faults Uncertain parameters Effectiveness factor fault-tolerant control
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