Active Actuator Fault Tolerant Control Based on Generalized Internal Model Control and Performance Compensation

Abstract

In this paper, two active fault-tolerant control (AFTC) structures are proposed for multiplicative and additive actuator faults respectively. Considering that the traditional generalized internal model control (GIMC) changes the dynamic input-output relationship of the original system, more exact fault information is employed to design the robustification controller of GIMC with the help of fault diagnosis observers. Further, a feedforward compensation unit and a feedback compensation unit are respectively designed for multiplicative and additive faults, striving to approximately recover the system performance to the normal one. Finally, an air handling unit (AHU) system is provided to verify the effectiveness and superiority of the proposed structures.

Adaptive fault-tolerant boundary vibration control for a flexible aircraft wing against actuator and sensor faults

“…Researchers use two methods to solve the FTC problem: active FTC (Guo et al, 2019; Shen et al, 2019) and passive FTC (Hasan et al, 2020; Patel and Shah, 2019). Passive FTC uses an invariant controller to ensure the closed-loop system is robust to specific faults.…”

Critic-observer-based decentralized force/position approximate optimal control for modular and reconfigurable manipulators with uncertain environmental constraints

“…Force/position control, as a useful way to tackle contacting environment tasks of manipulators, have attracted extensive attentions in practices. Recently, force/position control approaches have been divided into parallel force/position control [1], hybrid force/position control [2], impedance [3] etc. Hu et al [4] addressed force/position control problem of the manipulator via sliding mode control.…”