Adaptive sensor fault-tolerant control for a class of multi-input multi-output nonlinear systems: Adaptive first-order filter-based dynamic surface control approach

Khebbache, Hicham; Labiod, Salim; Tadjine, Mohamed

doi:10.1016/j.isatra.2018.07.037

Cited by 12 publications

(11 citation statements)

References 45 publications

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“…Then, the derivative of the Lyapunov V becomes: . According to [49] and [58], it can be concluded that the proposed algorithm is UUB with an exponential convergence rate γ in the presence of mismatched external force interaction, sensor faults and matched uncertainty (i.e. internal leakage).…”

Section: Proof Of Theoremmentioning

confidence: 96%

“…By transferring to another form [48], the sensor fault was rearranged with the same channel as the actuator fault. Khebbache et al [49] derived an FTC-based backstepping technique for a class of multi-input-multi-output nonlinear systems, in which adaptive laws for fault estimation were involved in each step of the recursive design. However, the approach supposed that all first measured outputs were faultfree.…”

Section: Introductionmentioning

confidence: 99%

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A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

et al. 2021

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This paper presents a fault-tolerant control (FTC) based on impedance control and full state feedback backstepping sliding mode control (FBSMC) algorithm for an n degree of freedoms (n-DOF) serial hydraulic manipulator under the presence of matched and mismatched uncertainties and sensor faults in the constrained framework. These faulty signals, generated from unknown constant or time-variant offset values, happen on both manipulator joint angles and force sensors; thereby degrading the system performance. Therefore, to address both matched and mismatched uncertainties and signal faults, the system dynamics subjects to the sensor faults is mathematically modeled. Then, the robust fault estimation algorithm based on extended state observer (ESO) is proposed to estimate the system state and faulty signals for the FTC design to achieve the force and position tracking performance. System stability of the proposed control scheme is theoretically proven by performing Lyapunov theorems. Finally, comparative simulation results are given on a 3-DOF serial hydraulic manipulator to evaluate the effectiveness of the proposed fault estimation and FTC methodology.INDEX TERMS Sensor fault estimation, extended state observer (ESO), fault-tolerant control (FTC), force control, impedance control.

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Section: Proof Of Theoremmentioning

confidence: 96%

Section: Introductionmentioning

confidence: 99%

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

et al. 2021

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“…In [21], the authors proposed a dynamic surface-based control approach using the Nussbaum-type function for attitude stabilization of a spacecraft under actuator saturation. More results can be found in [22], where an active fault-tolerant control scheme has been developed for a class of MIMO nonlinear systems with sensor failures based on dynamic surface control (DSC).…”

Section: A R T I C L E I N F Omentioning

confidence: 99%

Adaptive Fuzzy Fault-Tolerant Control for a Class of Nonlinear Systems under Actuator Faults: Application to an Inverted Pendulum

Bounemeur¹,

Chemachema²

2021

IJRCS

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This work investigates a fuzzy direct adaptive fuzzy fault-tolerant Control (FFTC) for a class of perturbed single input single output (SISO) uncertain nonlinear systems. The designed controller consists of two sub-controllers. One is an adaptive unit, and the other is a robust unit, whereas the adaptive unit is devoted to getting rid of the dynamic uncertainties along with the actuator faults, while the second one is developed to deal with fuzzy approximation errors and exogenous disturbances. It is proved that the proposed approach ensures a good tracking performance against faults occurring, uncertainties, and exogenous disturbances, and the stability study of the closed-loop is proved regarding the Lyapunov direct method in order to prove that all signals remain bounded. Simulation results are presented to illustrate the accuracy of the proposed technique.

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“…Many researchers have concentrated on addressing the control problem of fixed-wing UAVs subject to actuator fault, thereby publishing numerous results regarding passive or active FTC. Active FTC identifies faults through fault detection and diagnosis block in real time, while passive FTC uses a single fixed controller through the robust control strategy [2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Fault-Tolerant Tracking Control of Fixed-Wing UAVs with Actuator Fault and Unmatched Disturbances

Zheng

2022

International Journal of Aerospace Engineering

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This paper presents a dynamic surface fixed-time fault-tolerant control strategy for the longitudinal dynamic model of fixed-wing unmanned aerial vehicles (UAVs). Firstly, a novel disturbance observer is constructed to precisely estimate the lumped disturbance. Secondly, without fractional power terms in the designed fixed-time fault-tolerant controller, the potential singular value problem is tactfully avoided, which often exists in the stability analysis of the traditional fixed-time controller design. Thirdly, a novel fixed-time filter is proposed to overcome the phenomenon of “differential explosion” in the backstepping control scheme. Lyapunov stability analysis guarantees that the tracking errors can converge to the neighborhood of the origin in the fixed time. The simulation results verify the effectiveness of the proposed control scheme.

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Adaptive sensor fault-tolerant control for a class of multi-input multi-output nonlinear systems: Adaptive first-order filter-based dynamic surface control approach

Cited by 12 publications

References 45 publications

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

Adaptive Fuzzy Fault-Tolerant Control for a Class of Nonlinear Systems under Actuator Faults: Application to an Inverted Pendulum

Fixed-Time Fault-Tolerant Tracking Control of Fixed-Wing UAVs with Actuator Fault and Unmatched Disturbances

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