Fault detection for uncertain nonlinear systems via recursive observer and tight threshold

Zhang, Zhihui; Hao, Li‐Ying; Guo, Mingjie

doi:10.1016/j.amc.2021.126665

Cited by 5 publications

(5 citation statements)

References 27 publications

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“…Inspired by [8], the following sensor parital loss fault is considered in the position loop, which is defined as…”

Section: Quadrotor Model and Control Goalmentioning

confidence: 99%

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Disturbance observer–based finite‐time fault tolerant control of quadrotor unmanned aerial vehicles with command filtered and event‐triggered techniques

Sun,

Gai,

Chen

et al. 2024

Intl J Robust & Nonlinear

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This article primarily focuses on the finite‐time fault‐tolerant tracking control problem of quadrotor unmanned aerial vehicle (UAV) systems. Our main innovation points are: (1) A simple cubic form of Lyapunov function is applied to the design of the position ring controller of the quadrotor UAV; (2) The command filtering technology effectively solves the challenge of derivation of complex coupling matrixs in the controller design process; (3) An improved disturbance observer and a variable threshold event‐triggered mechanism are applied in the Quadrotor UAV system. In summary, the overall approach combines the backstepping method and finite‐time Lyapunov stability to prove the finite‐time stability of all the signals in the system. Finally, the effectiveness and rationality of the algorithm are verified through simulation experiments and its application on an actual simulation platform.

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“…Inspired by [8], the following sensor parital loss fault is considered in the position loop, which is defined as…”

Section: Quadrotor Model and Control Goalmentioning

confidence: 99%

“…It is well known that the occurrence of sensor faults poses threats to system stability and safety [8]- [10]. [11] and [12] primarily focus on handling single sensor fault in n-th order uncertain nonlinear systems and propose a third-order absolute value Lyapunov function for compensating sensor fault.…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer–based finite‐time fault tolerant control of quadrotor unmanned aerial vehicles with command filtered and event‐triggered techniques

Sun,

Gai,

Chen

et al. 2024

Intl J Robust & Nonlinear

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show abstract

“…where ξ and ζ are positive parameters. By introducing (35), ( 36), (37), (38) and (39) into (31), V1 can be described as…”

Section: Fault-tolerant Fuzzy Observer Designmentioning

confidence: 99%

“…From (35), for ς n = 0, then it gives that X n = z n , and according to z n = xn − ᾱn , Ẋn can be rewritten as…”

Section: Adaptive Lawmentioning

confidence: 99%

“…In [33], for the problem of multi-sensor fault compensation and tracking, the cubic absolute Lyapunov stability theory was also used to estimate the fault information online, and an adaptive signal compensation mechanism was proposed to eliminate the adverse effects caused by sensor faults, which achieves the desired tracking effect. For uncertain nonlinear systems with mismatched nonlinear fault functions and disturbances, a recursive observer with small output estimation error was designed in [35]. In order to solve the sensor fault and fault compensation problem of Lipschitz nonlinear system, a new fault-tolerant control strategy based on adaptive integral sliding mode was proposed in [11].…”

Section: Introductionmentioning

confidence: 99%

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Fuzzy observer-based command filtered tracking control for uncertain strict-feedback nonlinear systems with sensor faults and event-triggered technology

Sun

Gao²,

Wu³

et al. 2023

Nonlinear Dyn

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For the trajectory tracking problem of nthorder uncertain nonlinear systems with strict feedback, a fuzzy controller based on command filtered and eventtriggered technology is designed to improve the tracking error of the system. Concurrently, a fault-tolerant control scheme is introduced to effectively solve the problem of sudden output sensor failure. Additionally, the proposed controller can also greatly avoid the "differential explosion" problem of derivations of virtual control laws, which makes the design of the controller simpler. Furthermore, an effective observer is designed to solve the problem of system state immeasurability. The control law designed by this method does not need to include the known function of the system state equation. Therefore, the proposed control scheme makes the design of the controller more convenient and flexible. According to Lyapunov stability theory, it is proved that all the signals in the closed-loop system are uniformly and ultimately bounded. Finally, two simulation examples of second-order nonlinear system and single link robot show the effectiveness of the proposed scheme.

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Command filter-based fault-tolerant fast finite-time control of manipulator systems with sensor faults and event-triggered technology

Jiao,

Zhao,

Chen

et al. 2024

2024 7th International Symposium on Autonomous Systems (ISAS)

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Fault detection for uncertain nonlinear systems via recursive observer and tight threshold

Cited by 5 publications

References 27 publications

Disturbance observer–based finite‐time fault tolerant control of quadrotor unmanned aerial vehicles with command filtered and event‐triggered techniques

Disturbance observer–based finite‐time fault tolerant control of quadrotor unmanned aerial vehicles with command filtered and event‐triggered techniques

Fuzzy observer-based command filtered tracking control for uncertain strict-feedback nonlinear systems with sensor faults and event-triggered technology

Command filter-based fault-tolerant fast finite-time control of manipulator systems with sensor faults and event-triggered technology

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