A new actuator fault‐tolerant control for Lipschitz nonlinear system using adaptive sliding mode control strategy

Abstract

This article proposed a new adaptive integral sliding mode (ISM) based fault‐tolerant control (FTC) strategy to solve the actuator's faults and failures compensation problem for the class of Lipschitz nonlinear systems. A nominal state feedback virtual control law is designed first to stabilize the Lipschitz nonlinear system and to attain the desired nominal performance. To cater for the effect of faults and failures, the control allocation (CA) scheme reorganizes the virtual input signals among the healthy redundant actuators based on actuator's effectiveness level. Then, a nonlinear adaptive integral sliding mode controller (ISMC) is incorporated with the CA scheme to compensate for unknown disturbance and uncertainties effect that arises in the system by virtue of actuator faults/failures and error in fault estimation . An effective synthesis procedure is adopted to ensure the closed‐loop stability condition using linear matrix inequality (LMI) optimization. Finally, the FTC scheme is tested to achieve maneuvering control of coaxial octorotor unmanned aerial vehicle (UAV) system. Simulations are performed on the nonlinear system at different actuator faults/failures combinations. Moreover, the effect of wind‐gust, parameter variations, estimated state feedback and sensor noise are considered in nonlinear simulations. Finally, the results obtained during faults/failures are compared with the nominal condition and fixed ISMC based CA scheme.

Actuator-Integrated Fault Estimation and Fault Tolerant Control for Electric Power Steering System of Forklift

“…scheme are introduced to compensate the unknown disturbance and uncertainty caused by actuator failure and fault estimation error [22]. Peter Fogh Odgaard et al proposed a scheme for accommodating faults in the rotor and generator speed sensors in wind turbine.…”

“…Firstly, a nominal state feedback virtual control law is designed to stabilize the Lipschitz nonlinear system and to achieve the ideal nominal performance. Then, the nonlinear adaptive integral SMC and control allocation scheme are introduced to compensate the unknown disturbance and uncertainty caused by actuator failure and fault estimation error [22]. Peter Fogh Odgaard et al proposed a scheme for accommodating faults in the rotor and generator speed sensors in wind turbine.…”

A Robust Sensor and Actuator Fault Tolerant Control Scheme for Nonlinear System

“…Sliding mode control (SMC) has been employed in a range of nonlinear systems, and it is a promising option for coping with actuator failures and model uncertainties. [9], [10].…”

Adaptive fixed-time control for nonlinear systems against time-varying actuator faults

“…The approaches of the fault-tolerant design can be broadly divided into two categories: the passive one [1][2][3][4][5] and the active one [6][7][8][9][10][11]. Although the passive approach is usually exploited to handle partial actuator faults [12][13][14] and complete actuator faults [15][16][17], it has also a limited capability of handling unknown actuator faults due to its passive control laws being fixed. Unlike passive approaches, active ones consist in reconstructing the controller online, which are more capable of coping with unknown actuator faults.…”