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Two different schemes for Fault Tolerant Control (FTC) based on Adaptive Control, Robust Control and Linear Parameter Varying (LPV) systems are proposed. These schemes include a Model Reference Adaptive Controller for an LPV system (MRAC-LPV) and a Model Reference Adaptive Controller with a H∞ Gain Scheduling Controller for an LPV system (MRAC-H∞ GS-LPV). In order to compare the performance of these...
This work compares the use of direct torque and flux control (DTFC) and model predictive control (MPC) for induction motor (IM) control. These two strategies are fundamentally different in operation since (i) DTFC decides the current control action based on a switching table constructed using a simplified model of the IM, whereas (ii) MPC decides the current control action by on-line minimization...
Predictive Control formulations can be designed with nominal asymptotic stability guarantees, provided that the associated optimization problem is feasible at each sampling time. However, model-plant mismatches, external perturbations or faults may cause the optimization to become infeasible. Such a problem motivates the development of techniques aimed at recovering feasibility without violating hard...
In this paper, the sliding mode approach is used to control of a quadrotor unmanned aerial vehicle (UAV) in the presence of external disturbance and actuator fault. Fault detection unit can detect the actuator fault using a state estimator. Then it reconfigures the structure of controller such that some control performance is achieved. The proposed control structure has the advantage of disturbance...
This study focuses on the use of decentralized control of building structures in which the vibration control on each floor of a building is considered as a local control problem within the hierarchical two-level dynamical building structure. This hierarchal control system uses optimal control comprising both local and coordination strategies. At the coordination level the control actions are distributed...
In this paper, a Fault Tolerant Control (FTC) strategy using a virtual sensor for Linear Parameter Varying (LPV) systems is proposed. The main idea of this FTC method is to reconfigure the control loop such such that the nominal controller could be still used without need of retuning it. That is, the plant with the sensor fault is modified adding the virtual sensor block that masks this fault and...
The present paper uses set theoretic methods for the design of a fault tolerant control scheme in the case of a multisensor application. The basic principle is the separation of invariant sets for the estimations of the state and tracking error under healthy and faulty functioning. The fault scenario is based on abrupt changes of the observation equations. The main contribution is the introduction...
The paper presents a hierarchical architecture for fault tolerant control of mechatronic systems. In the architecture, both the diagnosis and the reconfiguration are completely decentralized according to the structure of the control system. This is achieved by using a purely service oriented view of the system including both hardware and software. The service view with no cyclic dependencies is further...
Sliding mode methods have been historically studied because of their strong robustness properties to a certain class of uncertainty. This is achieved by employing nonlinear control/injection signals to force the system trajectories to attain in finite time a motion along a surface in the state-space. This paper will consider how these ideas can be exploited for fault detection (specifically fault...
This paper focuses on the supervisory fault tolerant control design for a class of nonlinear systems with faults ranging over a finite cover. The proposed framework is based on switched system approach, and relies on a supervisory switching among a family of pre-computed candidate controllers without any additional model. Each faults set can be accommodated by a set of controllers under an appropriate...
In this paper, a fault tolerant control method based on the parametric estimation is presented and applied to the air path system of a diesel engine. This method uses directly the results of a parametric estimation of the system which is nonlinear and whose state variables and parameters are strongly coupled. Our goal is to adapt an Unconstrained Nonlinear Continuous-time Generalized Predictive Control...
Clean data are essential for any kind of alarm or control system. To achieve the required level of data quality in online water quality monitoring, a system for fault tolerant control was developed. A modular approach was used, in which a sensor and station management module is combined with a data validation and an event detection module. The station management module assures that all relevant data,...
The concept of combining robust fault estimation within a controller system to achieve active Fault Tolerant Control (FTC) has been the subject of considerable interest in the recent literature. The current study is motivated by the need to develop model-based FTC schemes for systems that have no unique equilbria and are therefore difficult to linearise. Linear Parameter Varying (LPV) strategies are...
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