On-Line Learning Nonlinear Direct Neurocontrollers for Restructurable Control Systems

Napolitano, Marcello R.; Naylor, Steve; Neppach, Charles; Casdorph, Van

doi:10.2514/3.56672

Cited by 52 publications

(25 citation statements)

References 6 publications

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“…An expert supervision strategy is also applied, such that the performance of the control reconfiguration is increased. [206] have proposed the use of online learning neural network controllers that have the capability of bringing a system affected by substantial damage back to an equilibrium condition.…”

Section: Intelligent Control (Ic)mentioning

confidence: 99%

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Rotondo¹

2018

Springer Theses

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This thesis presents some contributions to the state-of-the-art of the fields of gainscheduling and fault tolerant control (FTC).In the area of gain-scheduling, the connections between the linear parameter varying (LPV) and Takagi-Sugeno (TS) paradigms are analyzed, showing that the methods for the automated generation of models by nonlinear embedding and by sector nonlinearity, developed for one class of systems, can be easily extended to deal with the other class. Then, two measures, based on the notions of overboundedness and region of attraction estimates, are proposed in order to compare different models and choose which one can be considered the best one. Later, the problem of designing state-feedback controllers for LPV systems has been considered, providing two main contributions. First, robust LPV controllers that can guarantee some desired performances when applied to uncertain LPV systems are designed, by using a double-layer polytopic description that takes into account both the variability due to the varying parameter vector and the uncertainty. Then, the idea of designing the controller in such a way that the required performances are scheduled by the varying parameters is explored, which provides an elegant way to vary online the behavior of the closed-loop system. In both cases, the problem reduces to finding a solution to a finite number of linear matrix inequalities (LMIs), which can be done efficiently using the available solvers.In the area of fault tolerant control, the thesis first shows that the aforementioned double-layer polytopic framework can be used for FTC, in such a way that different strategies (passive, active and hybrid) are obtained depending on the amount of available information. Later, an FTC strategy for LPV systems that involves a reconfigured reference model and virtual actuators is developed. It is shown that by including the saturations in the reference model equations, it is possible to design a model reference FTC system that automatically retunes the reference states whenever the system is affected by saturation nonlinearities. In this way, a graceful performance degradation in presence of actuator saturations is incorporated in an elegant way. Finally, the problem of FTC of unstable LPV systems subject to actuator saturations is considered. In this case, the design of the virtual actuator is performed in such a way that the convergence of the state trajectory to zero is assured despite the saturations and the appearance of faults. Also, it is shown that it is possible to obtain some guarantees about the tolerated delay between the fault occurrence and its isolation, and that the nominal controller can be designed so as to maximize the tolerated delay.i Resum Aquesta tesi presenta diverses contribucions a l'estat de l'art del control per planificació del guany i del control tolerant a fallades (FTC).Pel que fa al control per planificació del guany, s'analitzen les connexions entre els paradigmes dels sistemes lineals a paràmetres variants en el temps (LPV) i d...

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Section: Intelligent Control (Ic)mentioning

confidence: 99%

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Rotondo¹

2018

Springer Theses

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“…have the same forms, we deal with them in different ways in (23), which gives more freedom and less conservativeness.…”

Section: Theorem 1 Consider the Closed-loop Error System (10) Subjectmentioning

confidence: 99%

“…Fault-tolerant design approach can be broadly classified into two types: Passive approach [19][20][21] and Active approach [22][23][24][25]. In [19], by using the LMI optimization approach, iterative LMIbased approaches to fault-tolerant control design are proposed using passive fault-tolerant controller, yet as the number of possible faults and the degree of system redundancy increases, the corresponding design method may become more conservative.…”

Section: Introductionmentioning

confidence: 99%

“…In [19], by using the LMI optimization approach, iterative LMIbased approaches to fault-tolerant control design are proposed using passive fault-tolerant controller, yet as the number of possible faults and the degree of system redundancy increases, the corresponding design method may become more conservative. In [23], some active fault-tolerant control schemes have been proposed based on fault detection and isolation (FDI) mechanisms. Due to possible false alarms, nondetection, delays between the fault occurrence and its detection and the complexity of the former, faulttolerant control methods without FDI appear to be preferred in the existing literature.…”

Section: Introductionmentioning

confidence: 99%

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Robust adaptive synchronization for a class of chaotic systems with actuator failures and nonlinear uncertainty

Zhao

2013

Nonlinear Dyn

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This paper is concerned with the robust adaptive synchronization problem for a class of chaotic systems with actuator failures and unknown nonlinear uncertainty. Combining adaptive method and linear matrix inequality (LMI) technique, a novel type of robust adaptive reliable synchronization controller is proposed, which can eliminate the effect of actuator fault and nonlinear uncertainty on systems. After solving a set of LMIs, synchronization error between the master chaotic and slave chaotic systems can converge asymptotically to zero. Finally, illustrate examples about chaotic Chua's circuit system and Lorenz systems are provided to demonstrate the effectiveness and applicability of the proposed design method.

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“…In general, the existing active FTC system design methods can be categorized based on the following approaches: the control-loop reconfiguration while accounting for input constraints as well as the presence of uncertainty for general nonlinear systems [1,2]; model predictive control [3]; the linear quadratic regulator (LQR) [4]; the eigenstructure assignment [5]; the multiple model [6,7]; adaptive control [6,[8][9][10]; pseudo-inverse [11]; model following [12] and neural networks [13]. Some of these methods include a strategy involving a fast subsystem for fault detection and isolation and a supervisory system that chooses the corresponding controller for a particular type of fault.…”

Section: Introductionmentioning

confidence: 99%

Fault‐tolerant control synthesis for a class of nonlinear systems: Sum of squares optimization approach

Yang

2008

Intl J Robust & Nonlinear

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SUMMARYThis paper studies the fault-tolerant control (FTC) problem for nonlinear systems, with guaranteed cost or H ∞ performance objective in the presence of actuator faults. The faulty mode is built as a multi-model framework of the typical aberration in actuator effectiveness. The novelty of this paper is that the effect of the nonlinear terms is described as an index in order to transform the FTC design problem into a semi-definite programming. The proposed optimization approach is to find zero optimum for this index. Combined with other performance indexes, the conceived multi-objective optimization problem is solved by using sum of squares method in a reliable and efficient manner. Numerical examples are included to verify the applicability of this new approach for the nonlinear FTC synthesis.

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On-Line Learning Nonlinear Direct Neurocontrollers for Restructurable Control Systems

Cited by 52 publications

References 6 publications

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Robust adaptive synchronization for a class of chaotic systems with actuator failures and nonlinear uncertainty

Fault‐tolerant control synthesis for a class of nonlinear systems: Sum of squares optimization approach

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