An Unknown Input Observer–EFIR Combined Estimator for Electrohydraulic Actuator in Sensor Fault-Tolerant Control Application

Nahian, Syed Abu; Dinh, Truong Quang; Dao, Hoang Vu; Ahn, Kyoung Kwan

doi:10.1109/tmech.2020.3013609

Cited by 20 publications

(25 citation statements)

References 38 publications

(57 reference statements)

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“…However, the effects of sensor faults on the hydraulic manipulator have not been considered in previous works. A few studies have focused on the sensor faults in hydraulic systems, but the degree of freedom is limited to one [44,45]. Moreover, some studies have tried to solve the fault diagnosis problem in robot manipulators [46][47][48].…”

Section: Discussionmentioning

confidence: 99%

Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification

2021

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In this paper, an active fault-tolerant control (FTC) system design is proposed for an ndegree-of-freedom (n-DOF) hydraulic manipulator with internal leakage faults and mismatched/matched lumped disturbances. A pair of matched and mismatched disturbance observers (DOBs) is proposed to simultaneously estimate and compensate for the effects of matched/mismatched disturbances on the control system in healthy conditions. The fault detection is achieved when the estimated matched disturbance is larger than a threshold. After that, a novel control reconfiguration law is designed to switch from a normal controller to a fault-tolerant controller with an online identification algorithm based on an adaptive mechanism. The proposed active FTC guarantees the position tracking performance in not only single-fault but also simultaneous-faults conditions. Moreover, the problem of uniting disturbance-observer-based control for external disturbance and adaptive control for parametric uncertainty is solved in a novel approach. Simulation results are conducted in a two-degree-of-freedom hydraulic leg prototype, which verifies the effectiveness of the proposed method.INDEX TERMS Fault-tolerant control (FTC), disturbance observer (DOB), online identification, hydraulic manipulator, internal leakage fault.

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Section: Discussionmentioning

confidence: 99%

Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification

2021

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“…When the position sensor fault occurs, the measured angular displacement q is replaced by q + fs. In this paper, it is assumed that the position sensor fault fs is generated by a process with an unknown input signal ζ as below [29], [35].…”

Section: Hydraulic Rotary System Modeling With Faultmentioning

confidence: 99%

“…where 1 x is the estimation value of x1 based on the NUIO,  is a threshold value that is selected to keep away from the false alarms caused by disturbances, uncertain parameters [35], [36], [48].…”

Section: A Nonlinear Unknown Input Observermentioning

confidence: 99%

“…It had thus become increasingly popular in the last decade in which observer gain is designed based on the linear matrix inequality (LMI) optimization algorithm [32]- [34]. In [35], the sensor faults including position and pressure with noise have been presented for EHA, then an UIO-integrated extended finite impulse response (EFIR) has been investigated to determine the sensor fault but the actuator fault has not been carried out. Meanwhile, a robust nonlinear unknown input observer (NUIO) [18] has been also designed to detect only sensor fault without fault estimation.…”

Section: Introductionmentioning

confidence: 99%

“…In detail, the NUIO is designed based on the LMI approach to estimate the position sensor fault under the effect of actuator faults and disturbances. Then, the fault detection (FD) performs the comparative duty of the fault estimation with a determined threshold, which is decided via [35], [48]. Next, the feedback position signal at the principal controller is obtained by the estimated values instead of the measured value when the fault exceeds the predefined threshold in real-time.…”

Section: Introductionmentioning

confidence: 99%

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Robust Fault-Tolerant Control of an Electro-Hydraulic Actuator With a Novel Nonlinear Unknown Input Observer

Phan

Dao

et al. 2021

IEEE Access

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In this paper, a novel adaptive fault-tolerant controller is proposed for a typical electrohydraulic rotary actuator in the presence of disturbances, internal leakage fault, and sensor fault simultaneously. To construct the suggested controller, a nonlinear unknown input observer is developed to effectively identify the sensor fault, which is unaffected by not only internal leakage fault but also mismatched disturbances/uncertainties. Furthermore, a radial basis function neural network is designed to compensate for the mismatched disturbances/uncertainties caused by payload variation and unknown friction nonlinearities. Besides, an adaptive law based on the projection mapping function is applied to tackle the effect of the internal leakage fault. The integration of the above-mentioned techniques into the adaptive backstepping terminal sliding mode is investigated to obtain high tracking performance, robustness as well as fast convergence. The stability of the closed-loop system is proven by the Lyapunov theory. Finally, the capability and effectiveness of the proposed approach are validated via simulation results under various faulty scenarios.

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Distributed output estimation error observer‐based adaptive fault‐tolerant consensus tracking control of multi‐agent systems

Chun

Wang

et al. 2023

Adaptive Control & Signal

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Summary The purpose of this study is to discuss the fully distributed design of output estimation error observer and fault‐tolerant consensus tracking control for a class of multi‐agent systems with Lipschitz nonlinear dynamics and actuator faults. Firstly, based on the relative output measurements of neighboring agents, the distributed output estimation error observer is developed to adaptively estimate the state and fault information of each agent, and further overcome the difficulties of online updating the adaptive estimations of unknown hyper‐parameters. Secondly, to achieve the state consensus tracking goal and compensate for the negative effects of actuator faults, the distributed fault‐tolerant consensus tracking control scheme is proposed on the basis of the state estimation and adaptive fault estimation information, and has excellent robustness and consensus tracking control performance. Moreover, sufficient criteria can ensure that consensus tracking error of each agent converges to a small set near the origin. Finally, numerical simulations are provided to show the effectiveness of the proposed fully distributed algorithm.

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An Unknown Input Observer–EFIR Combined Estimator for Electrohydraulic Actuator in Sensor Fault-Tolerant Control Application

Abstract: Please refer to published version for the most recent bibliographic citation information. If a published version is known of, the repository item page linked to above, will contain details on accessing it.

Cited by 20 publications

References 38 publications

Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification

Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification

Robust Fault-Tolerant Control of an Electro-Hydraulic Actuator With a Novel Nonlinear Unknown Input Observer

Distributed output estimation error observer‐based adaptive fault‐tolerant consensus tracking control of multi‐agent systems

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