Fault-tolerant control strategy based on control allocation using smart actuators

Yang, Inseok; Kim, Donggil; Lee, Dongik

doi:10.1109/systol.2010.5675961

Cited by 15 publications

(20 citation statements)

References 7 publications

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“…Theorem 2: Consider the system dynamics under multiple faults and the proposed reconfiguration scheme described in (22) (22) is globally exponentially stable if the occurrence of faults is such that Assumption 2 holds with an arbitrary N 0 > 0 and with an average dwell time between…”

Section: A Stability Analysismentioning

confidence: 99%

“…However, distributed FDD and reconfiguration to enable distributed fault-tolerant systems has been much less explored. The architecture of such systems is discussed in [19], [20], [21], while in [22] a distributed FDD is employed to perform a centralized reconfiguration. To the best of our knowledge, distributed reconfiguration has not yet been addressed in the literature.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Sensor and Actuator Reconfiguration for Fault-Tolerant Networked Control Systems

Teixeira

Araújo

Johansson

2018

IEEE Trans. Control Netw. Syst.

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Abstract-In this paper, we address the problem of distributed reconfiguration of networked control systems upon the removal of misbehaving sensors and actuators. In particular, we consider systems with redundant sensors and actuators cooperating to recover from faults. Reconfiguration is performed while minimizing a steady-state estimation error covariance and a quadratic control cost. A model-matching condition is imposed on the reconfiguration scheme. It is shown that the reconfiguration and its underlying computation can be distributed. Using an average dwell-time approach, the stability of the distributed reconfiguration scheme under finite-time termination is analyzed. The approach is illustrated in a numerical example.

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Section: A Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Distributed Sensor and Actuator Reconfiguration for Fault-Tolerant Networked Control Systems

Teixeira

Araújo

Johansson

2018

IEEE Trans. Control Netw. Syst.

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“…고장대처제어 알고리즘 설계 일반적인 제어면 재분배 문제는 다음과 같이 표현된다: CAP (Control Allocation Problem) [13]: Given a virtual input, find the actuator commands u(t) such that the followings are satisfied:…”

Section: ( )unclassified

“…FTCAP (Fault Tolerant Control Allocation Problem) [13]: Given a virtual input v(t), find the actuator commands u r (t) satisfying (14) in the range of u -< u r (t) < u…”

Section: ( )mentioning

confidence: 99%

“…기존의 중앙집중식 구조 하에서 FTC를 설계하는 문제에 비해 NCS 기반의 FTC 설계는 많은 장점을 제공한다. 즉 NCS를 구현하기 위해서는 그림 3과 같은 자체진단/보상 기능 및 양방향 통신을 지원하는 지능형 액추에이터(smart actuator)가 적용되므로 [11], 시스템 구성부품의 고장진단 정보 를 보다 효과적으로 얻을 수 있다 [13,14]. 예를 들면, Patton [4] 은 고장진단 기능이 내장된 지능형 에이전트(intelligent agent) 로써 액추에이터를 구현하고, 네트워크를 통하여 상위단계의 관리자(supervisor)와 진단정보 및 고장대처 정보를 공유하는 FTNCS 기법을 제안하였다.…”

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Fault-Tolerant Control System for Unmanned Aerial Vehicle Using Smart Actuators and Control Allocation

Yang¹,

Kim²,

Lee³

2011

Journal of Institute of Control, Robotics and Systems

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This paper presents a FTNCS (Fault-Tolerant Networked Control System) that can tolerate control surface failure and packet delay/loss in an UAV (Unmanned Aerial Vehicle). The proposed method utilizes the benefits of self-diagnosis by smart actuators along with the control allocation technique. A smart actuator is an intelligent actuation system combined with microprocessors to perform self-diagnosis and bi-directional communications. In the event of failure, the smart actuator provides the system supervisor with a set of actuator condition data. The system supervisor then compensate for the effect of faulty actuators by re-allocating redundant control surfaces based on the provided actuator condition data. In addition to the compensation of faulty actuators, the proposed FTNCS also includes an efficient algorithm to deal with network induced delay/packet loss. The proposed algorithm is based on a Lagrange polynomial interpolation method without any mathematical model of the system. Computer simulations with an UAV show that the proposed FTNCS can achieve a fast and accurate tracking performance even in the presence of actuator faults and network induced delays.

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Tracking control of uncertain Euler–Lagrange systems with finite‐time convergence

Xiao

Shi

2014

Intl J Robust & Nonlinear

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A unified solution is presented to the tracking control problem of Euler-Lagrange systems with finite-time convergence. A reconstruction module is designed to estimate the overall of unmodeled dynamics, disturbance, actuator misalignment, and multiple actuator faults. That reconstruction is accomplished in finite time with zero error. A nonsingular terminal sliding mode controller is then synthesized, and the resultant closed-loop system is also shown to be finite-time stable with the reference trajectory followed in finite time. Unlike most sliding mode control methods to handle system uncertainties, the designed control has less conservativeness and stronger fault tolerant capability. A rigid spacecraft system is used to demonstrate the effectiveness and potential of the proposed scheme.with b i W < 7 ! < a function standing for the time profile of a fault affecting the ith actuator. Further, this profile is modeled byTheorem 1 The error " in the observer error system (14) and (15) is uniformly ultimately bounded.The goal here is to have the attitude track a reference trajectory d D OE0:25 cos.t =60/ 0:2 sin.t =40/ 0:15 cos.t =50/ T . To accomplish this maneuver, je i j 6 0:004 and j P d i P i j 6 0:0015 must be achieved, i D 1; 2; 3. The control gains for the controller (27) are chosen as D 0:16; K D 0:5; m 2 D 19, and n 2 D 17. The following parameters are suitable choices for the reconstruction module (12) and (13): Á 1 D 0:015; Á 2 D 0:00001; Á 2 D 0:00001; Á 3 D 0:00001; Á 4 D 0:01; Á 5 D 0:05; m 1 D 9; n 1 D 19, and k D 11.Actuator faults: (i) The reaction wheel mounted in line with the CX -axis loses 40% of its normal power after 5 s; (ii) the actuator mounted in line with the CY -axis loses its power of 20% in from the 5th to the 15th second; moreover, this wheel becomes locked in place at a value of 0.01 Nm after 15 s; (iii) the reaction wheel fixed in line with the CZ-axis experiences 0.02 Nm of float fault after 10 s, and (iv) the fourth reaction wheel is healthy for all the time. Attitude tracking error e Time (sec) t f =45secFigure 3. Attitude tracking performance in the presence of actuator faults.To further investigate the performance of the proposed nonsingular control scheme nonsingular terminal sliding fault tolerant control (NTSFTC), two performance indexes that include the time needed to accomplish the tracking maneuver and total power consumption E total are considered:

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Fault-tolerant control strategy based on control allocation using smart actuators

Cited by 15 publications

References 7 publications

Distributed Sensor and Actuator Reconfiguration for Fault-Tolerant Networked Control Systems

Distributed Sensor and Actuator Reconfiguration for Fault-Tolerant Networked Control Systems

Fault-Tolerant Control System for Unmanned Aerial Vehicle Using Smart Actuators and Control Allocation

Tracking control of uncertain Euler–Lagrange systems with finite‐time convergence

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