Fault-tolerant Control for Uncertain Vehicle Active Steering Systems with Time-delay and Actuator Fault

Lin, Cheng Huang; Li, Yongming; Xiao, Wenbin; Li, Panshuo; Zhou, Qi

doi:10.1007/s12555-019-0003-y

Cited by 19 publications

(18 citation statements)

References 31 publications

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“…However, other controllers after the occurrence of the fault, by increasing the amplitude control signal (Figs. [6][7][8], have somewhat remedied the fault. The reason for this is the relative fault tolerance property of robust controllers.…”

Section: Resultsmentioning

confidence: 99%

“…[7]. Some articles are used to accurately estimate errors from different methods, such as fuzzy method [8], robust control [9], sliding mode theory [10], Adaptive Control [11][12][13][14][15] and neural network [16].…”

Section: Introductionmentioning

confidence: 99%

“…A further usual method [6] is the direct estimation of the thruster fault impact by reconstruction of the fault, which is studied here [7]. Some articles are used to accurately estimate errors from different methods, such as fuzzy method [8], robust control [9], sliding mode theory [10], Adaptive Control [11–15] and neural network [16].…”

Section: Introductionmentioning

confidence: 99%

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Adaptive fault-tolerant control for an autonomous underwater vehicle

2022

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In recent years, using autonomous underwater vehicles (AUVs) for submarine missions has increased substantially. One of the problems in controlling these nonlinear devices is the possibility of a fault in the system operators. Failure causes increased operating costs and reduced vehicle performance. Therefore, the use of fault tolerance control is essential to ensure the stability and ability of the device to continue its activity. The focus of this article is on the trajectory tracking control for an underactuated AUV with actuator faults using kinematics and dynamics modeling. An adaptive rule is used as an online estimation to compensate for malfunctions in robot performance. In this regard, the adaptive fault-tolerant control plan is proposed, so that the closed-loop system is stable, and all control objectives are achievable. At first, the dynamic model of AUV with actuator fault and disturbance is described. Next, the control algorithm is designed for trajectory tracking in the presence of time-varying disturbances and actuator faults. The proposed adaptive rules will overcome disturbances and actuator faults. Finally, to illustrate the effectiveness of the proposed method, the provided controller is compared with other common control methods.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive fault-tolerant control for an autonomous underwater vehicle

2022

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“…The fault-tolerant control (FTC) technique is applied successfully to accommodate undesirable faults and maintain acceptable system performance and stability. In summary, the FTC methods can be divided into two: passive and active fault-tolerant control [7][8][9][10]. The main differences between the two FTC strategies are that an adjustable control structure or parameters based on fault detection and diagnosis (FDD) are employed in the AFTC [11,12].…”

Section: Introductionmentioning

confidence: 99%

Back-stepping Fault-tolerant Control for Morphing Aircraft Based on Fixed-time Observer

Liang

Wang

et al. 2021

Int. J. Control Autom. Syst.

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In this paper, the problem of the back-stepping fault-tolerant control (FTC) based on fixed-time observer is addressed for the morphing aircraft with model uncertainties, external disturbances, and actuator faults. First, the longitudinal dynamics for the morphing process are presented, and the control-oriented models subject to undesired malfunctions are established. Second, the fixed-time observer is designed for offering estimations of compound disturbances, including system uncertainties, disturbance, and malfunction information. Especially, the observer errors could converge to zero by the proposed observer within a settling time, which is independent of the system's initial conditions. Then, a back-stepping FTC strategy based on the observations is proposed for the altitude and velocity subsystem, and the stability of the close loop system would be guaranteed by the proposed controller despite the actuator failures. Furthermore, to eliminate the effects of the "explosion of complexity" of the backstepping method, a modified dynamic surface is applied to compute derivatives of virtual laws. Finally, the numerical simulations verify the effectiveness of the proposed control approach.

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“…Reference [24] solved a problem of fault-tolerant control caused by actuator failure and interference in high-speed train traction system with unknown time-varying parameters. In [25], a fuzzy control method for uncertain time-delay active steering system with actuator fault is proposed.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fault-Tolerant Control of Nonlinear Time-Delay Systems With Prescribed Performance

et al. 2020

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An adaptive fault-tolerant control method considering actuator fault is proposed for a class of strict-feedback nonlinear time-delay systems. The prescribed performance is introduced by error transformation, which guarantees the transient performance of the system. Pade approximation and intermediate variables are used to eliminate the effect of input delay on the system performance. The universal approximation nature of fuzzy logic systems is used to approximate the unknown function in the system. A general fault model is introduced to describe the partial fault and stuck fault that may occur during the operation of the systems. The controller based on backstepping can ensure that the system operates normally with actuator fault. Through the Lyapunov function, all signals in the designed closed-loop system can be proved to be semi-globally uniformly ultimately bounded, and the tracking error can quickly converge to a compact set near the origin. Compared with the non-fault-tolerant control system, the simulation results show the effectiveness of the proposed control strategy.

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Fault-tolerant Control for Uncertain Vehicle Active Steering Systems with Time-delay and Actuator Fault

Cited by 19 publications

References 31 publications

Adaptive fault-tolerant control for an autonomous underwater vehicle

Adaptive fault-tolerant control for an autonomous underwater vehicle

Back-stepping Fault-tolerant Control for Morphing Aircraft Based on Fixed-time Observer

Adaptive Fault-Tolerant Control of Nonlinear Time-Delay Systems With Prescribed Performance

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