Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach

Yazdjerdi, Parisa; Meskin, Nader

doi:10.1177/0959651818779849

Cited by 8 publications

(8 citation statements)

References 28 publications

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“…The equations (6) and (7) imply that each subsystem is globally stable with the matched controller in the ISS sense with respect to reference signal r(t); otherwise, the subsystem is not ISS.…”

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

“…4 Therefore, to increase system reliability, it is essential that the control system can tolerate possible faults in the system and achieve optimal performance. 5 To increase system reliability and to ensure system stability in all operating conditions, multitude of effective fault-tolerant control (FTC) methods have been proposed over the last two decades, such as multiple model, 6 adaptive, 7 adaptive fuzzy, 8 sliding mode, 9 robust, 10 and adaptive robust 11 control-based schemes. In general, FTC strategies can be divided into two main categories, including passive FTC and active FTC.…”

Section: Introductionmentioning

confidence: 99%

“…In the state-based approach, the FDI process require less time compared to the time-based approach, which improves the transient behavior of the system during the FDI delay. The fault accommodation performance of the state-based and time-based switching algorithm can be seen in Figure 7 such that the fault is detected at t = 20:37 s using equation (6). Figures 8-10 show the nonrepeated switching sequence of the controllers and the control signal.…”

mentioning

confidence: 99%

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Simultaneous fault detection and isolation and fault-tolerant control using supervisory control technique: asynchronous switching approach

Roshanravan

Shamaghdari

2019

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article focuses on the design of a novel active fault-tolerant control scheme based on supervisory control technique for a class of nonlinear systems. This framework relies on a supervisory switching among a finite family of predesigned candidate controllers, which simultaneously performs isolation and accommodation of intermittent faults. This method does not require any additional model or filter bank for fault isolation. Two controller switching algorithms are introduced based on the dwell time and state which are designed especially for this purpose. There is often some time delay between fault occurrence and accommodation. This delay, which is called as the fault detection and isolation delay, causes the asynchronous switching between the system mode and the candidate controller. For the investigation of the stability of the faulty system under asynchronous switching, we explicitly construct piecewise Lyapunov function based on the knowledge of the known Lyapunov function for each operating mode. Then, by using this piecewise Lyapunov function, a new average dwell-time condition is provided on the maximum admissible fault occurrence rate. This condition guarantees the input-to-state stability of the system with respect to the reference signal. The behavior and performance of the proposed fault-tolerant control/fault detection and isolation scheme are demonstrated on the pitch-axis air vehicle model. The hardware-in-the-loop simulation is an important test for the evaluation of the air vehicle autopilot system before flight test. Therefore, the hardware-in-the-loop simulation results are presented to illustrate the effectiveness of the proposed method in the autopilot control loop.

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Section: Problem Statement and Preliminariesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Simultaneous fault detection and isolation and fault-tolerant control using supervisory control technique: asynchronous switching approach

Roshanravan

Shamaghdari

2019

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…For the active FTC, the controller configures the control law online in real time based on fault or failure information, it usually necessitates a detection and identification (FDI) strategy to evaluate faults first. In [19], an actuator fault tolerant control scheme was proposed for differential-drive mobile robots based on the multiple-model approach. The linearized model and extended Kalman filter were used to detect, isolate and identify actuator faults.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Control of Double-Rope Winding Hoists Combining Neural-Based Adaptive Technique and Iterative Learning Method

Chen

Zhu

et al. 2019

IEEE Access

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Double-rope winding mine hoist (DRWMH) is a vital coal mining equipment whose performance directly impacts the safe and efficient exploitation of the deep earth resources. Unfortunately, the actuator faults and disturbances can greatly affect the effect of the DRWMH. This paper deals with the problem of tension coordination control against actuator faults and disturbances for a DRWMH driven by multiple permanent magnet synchronous motors (PMSMs) using the neural-based adaptive method and iterative learning scheme. To improve the control performance and to maintain the stability of the DRWMH under faulty conditions, in this approach, a novel neural-based adaptive control strategy is developed to implement the input control assignment of the actuators. An iterative learning controller is used to achieve the compensation of the faults and uncertainties. The stability of both control subsystems has been proven. A series of experimental results are illustrated to demonstrate the validity of the proposed fault tolerant control for the DRWMH, which also reveal that a superior control effect is achieved in contrast with traditional controllers. Furthermore, the strategy proposed in this paper can be applied to other mechanical systems driven by multiple PMSMs that require high safety.

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“…are not considered in this work. Yazdjerdi and Meskin 24 have developed the extended Kalman filter to detect, isolate and identify the faults in the actuator. This approach is not suitable for a sensor and process fault tolerant controller of mobile robots.…”

Section: Introductionmentioning

confidence: 99%

Fault detection, isolation and reconfiguration of a bipedal-legged robot

Singh

Bera

2018

SIMULATION

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This paper deals with the fault detection, isolation (FDI) and reconfiguration of the locomotion of a bipedal-legged robot. Initially, the planar model of the legged robot in the vertical plane is developed using a bond graph (BG) approach. Then, the planar BG model of the legged robot is extended to the three-dimensional legged robot. Two individual motors are used to actuate the prismatic leg of the robot for locomotion. The BG simulation provides results for straight walking based on an oscillating cylinder mechanism and the turning motion of the legged robot are discussed. The prototype model of the legged robot is also developed and experimentation is done for straight and inclined plane applications. Finally, an FDI technique for the three-dimensional model of a legged robot is developed for the generation of fault indicators (i.e., analytical redundancy relations; ARRs) in the presence of system failure. The ARRs are derived from the BG model of the legged robot during the occurrences of the fault. The experimental results are validated with the simulation results for FDI and reconfiguration when the robot manoeuvres in a U-shaped path. The real-time fault diagnosis and reconfiguration for locomotion of the legged robot is possible with this FDI approach.

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Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach

Cited by 8 publications

References 28 publications

Simultaneous fault detection and isolation and fault-tolerant control using supervisory control technique: asynchronous switching approach

Simultaneous fault detection and isolation and fault-tolerant control using supervisory control technique: asynchronous switching approach

Fault-Tolerant Control of Double-Rope Winding Hoists Combining Neural-Based Adaptive Technique and Iterative Learning Method

Fault detection, isolation and reconfiguration of a bipedal-legged robot

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