Passive actuator fault tolerant control for a class of MIMO non-linear systems with uncertainties

Abstract

Fault Tolerant Control of affine class of MIMO non-linear systems have not received considerable attention of researchers compared to other class of non-linear systems. Therefore, this paper proposes an adaptive passive fault tolerant control method for actuator faults of affine class of MIMO nonlinear systems with uncertainties using sliding mode control. The actuator fault is represented by a multiplicative factor of the control signal which reflects the loss of actuator effectiveness. The design of the controller is based on the assumption that the maximum loss level of the actuator effectiveness is known. Further, since the proposed controller is adaptive, it does not require any a priori knowledge of the uncertainty bounds. The closed loop stability conditions of the controller are derived based on Lyapunov theory. The effectiveness of the proposed controller is demonstrated considering an example of a two degree of freedom helicopter and has been found to be satisfactory.

A Fault Tolerant Method Based on LQR for the Electric Motor Servo System

“…In recent years, the active fault-tolerant control and the passive fault-tolerant control had been researched for the control system with fault [1][2][3]. Concurrently, the fault diagnosis methods have been studied for the electric motor.…”

A Passive Fault-Tolerant Switched Control Approach for Linear Multivariable Systems: Application to a Quadcopter Unmanned Aerial Vehicle Model

“…This presents the disadvantage of having to measure and/or to estimate the faults [1,2]. Passive fault-tolerant control approaches typically use robust controllers such as sliding mode control [3,4], backstepping techniques designed to be robust against a class of presumed faults [2,5]. A passive fault-tolerant flight controller is designed in [6] using parameter dependent Lyapunov functions with plant modelling similar to that of this paper.…”