Active Disturbance Rejection Approach for Robust Fault-Tolerant Control via Observer Assisted Sliding Mode Control

Abstract

This work proposes an active disturbance rejection approach for the establishment of a sliding mode control strategy in fault-tolerant operations. The core of the proposed active disturbance rejection assistance is a Generalized Proportional Integral (GPI) observer which is in charge of the active estimation of lumped nonlinear endogenous and exogenous disturbance inputs related to the creation of local sliding regimes with limited control authority. Possibilities are explored for the GPI observer assisted sliding mode control in fault-tolerant schemes. Convincing improvements are presented with respect to classical sliding mode control strategies. As a collateral advantage, the observer-based control architecture offers the possibility of chattering reduction given that a significant part of the control signal is of the continuous type. The case study considers a classical DC motor control affected by actuator faults, parametric failures, and perturbations. Experimental results and comparisons with other established sliding mode controller design methodologies, which validate the proposed approach, are provided.

Tracking control of tomographic image acquisition robotic system based on active disturbance rejection theory with adaptive gains

“…The practical stabilization of the tracking error must be attained regardless of the uncertain non-modeled dynamics, as well as the class of external disturbances considered in equation (11). 21…”

“…The practical stabilization of the tracking error must be attained regardless of the uncertain nonmodeled dynamics, as well as the class of external disturbances considered in equation (11). 21 The first phase to solve the controller design is to develop a two-level observer with extended states that should reconstruct the non-measurable section of the vector state, as well as the estimation of the uncertain time-varying matrix F. The time-varying extended state observer for system (5), with the output-based feedback controller considering the states of the observer, that is, u(t) := u(x(t)), satisfies…”

Sliding Modes for Fault Tolerant Control

“…This technique has been properly used in different control schemes and assisted by other effective control strategies which have shown proper performance under fault tolerant operations see for examples Xiao et al (2012), Hamayun et al (2013), Mekki et al (2013). Over the past years, considerable attention has been paid to the design of for sliding mode controller assistance in order to overcome several issues like disturbance rejection as presented in Cortés-Romero et al (2013) also to accommodating actuator failures as presented in Corradini et al (2005).…”

Identificación Algebraica de Parámetros Asistida por Observadores GPI para un Helicóptero de Dos Grados de Libertad

“…Una alternativa para enfrentar dicho problema es el uso de sistemas que proveen la estimación de las señales de difícil manipulación desde la perspectiva algebraica, tales como los observadores proporcional integral generalizados (GPI). Las características y aplicaciones de este tipo de observadores han sido documentadas en múltiples trabajos que abordan problemas como el control de señales periódicas (Cortés-Romero, et al, 2014), control de convertidores electrónicos de potencia (Zurita-Bustamante et al, 2011), sincronización de circuitos caóticos (Luviano-Juarez et al, 2010), control de máquinas eléctricas (Sira-Ramírez et al, 2014b) y aplicaciones de tolerancia a fallos (Cortés-Romero et al, 2013), entre otros.…”