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This paper presents a systematic design framework for selecting the best sensor set to control an EMS system subject to satisfying a set of complex requirements such as optimum performance, robustness and sensor fault tolerance. The design framework combines the ℋ∞ robust control design, fault tolerance concept and heuristic approaches. The efficacy of the scheme is illustrated via application to...
In this paper, integral sliding mode control ideas are incorporated with control allocation, to design fault tolerant controllers for longitudinal and lateral control of a large transport aircraft. The proposed scheme has the capability to retain nominal performance even in the face of total failure of certain actuators, provided there is enough redundancy in the system. During faults or failures,...
This paper presents a networked fault-tolerant control strategy based on control allocation which is applied to a modern aircraft. The proposed method utilizes the benefits of networked control system architecture in which smart sensors/actuators are interconnected through a bi-directional digital communication network. A smart actuator, the paper focuses on, is capable of providing the supervisor...
Significant research has been carried out over the past three decades in the area of fault tolerant control. Most methods available in the chemical engineering literature are capable of detecting, identifying, estimating and accommodating faults for nonlinear processes with continuous states without state dependent and controlled switching. This work is aimed at developing a method for diagnosing...
In this paper we propose a multisensor switching strategy for fault tolerant control of rotor wound induction motors operating as stand alone generators. The proposed strategy combines three current sensors and associated observers that estimate the stator flux. The estimates provided by the observers are compared at each sampling time by a switching mechanism, which selects the sensors-observer pair...
Based on the developed nonlinear dynamic equations of a quadrotor (named as Qball-X4) UAV (Unmanned Aerial Vehicle), attitude and trajectory tracking control designs based on an inner/outer loop control structure has been proposed in this paper. Feedback linearization is designed to control the attitude stability in inner loop, traditional PID is designed to follow trajectory in accordance with pre-planned...
The cost of design, implementation, and maintenance of a fault-tolerant control system are significantly higher than that of a traditional control system. Therefore, the only time that one can even think and justify of using a fault-tolerant control system is for safety-critical applications. How does a fault-tolerant control system increase the level of safety? This is the main subject of this talk...
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...
In this paper, an approach to design an Admissible Model Matching (AMM) Fault Tolerant Control (FTC) based on Linear Parameter Varying (LPV) techniques is proposed. The main contribution of the proposed approach consists in the on-line reconfiguration of the controller based on the use of LPV gain-scheduling techniques that allow to take into account changes in the system parameters due to changes...
This paper presents a fault tolerant multisensor strategy for feedback control of a class of nonlinear systems upon a geometrical approach. A key point to ensure fault tolerance is the separation between healthy and faulty closed-loop behavior. Here we achieve this through set theoretic operations upon sets describing the healthy/faulty behavior of the system. The results rely both on an appropriate...
A model-based controller architecture for fault-tolerant control (FTC) is presented in this paper. The controller architecture is based on the Youla-Jabr-Bongiorno-Kucera (YJBK) parameterization. The FTC architecture consists of two central parts, fault detection and isolation (FDI) part and a controller reconfiguration part. The theoretical basis for the architecture will be given followed by an...
This paper considers the fault detection problem of mini-helicopter (Drone) where sensing and actuation signals are exchanged among various parts of the system via communication networks. For reducing the network load and thus minimizing the uncertainty caused by transmission delay or packet dropout, instead of transmitting all measurements of velocity sensors at each sampling time, only one velocity...
This paper deals with the problem of fault tolerant actuator network design. Multi criteria based algorithm is proposed to provide a fault tolerant architecture. These criteria are strong redundancy degree and a new criterion based on the number of admissible losses situations. The new criterion, computed for each actuator, guarantees some robustness for operating safety. An oriented graph is used...
The problem of active fault tolerant control (FTC) design with reconfiguration mechanism for linear systems with external disturbances is addressed. The solution is based on the supervisory control approach. Starting from the well known in FTC literature conditions for independent design of fault detection, isolation and fault compensation systems we propose new set of united conditions and the computational...
Internal Model Control (IMC) has been extended recently to a fault-tolerant IMC scheme (FTIMC), which ensures that the main IMC properties like stability, robustness and setpoint tracking are retained if faults occur. This paper proposes a new type of IMC controller for input-affine systems with input-saturation, which is based on a systematic analysis of the demands on the IMC filter, the construction...
Robust fault tolerant attitude stabilization control problem for flexible spacecraft is investigated in this paper. First, a robust controller based on sliding mode control scheme is derived, in which function approximation technique is employed to represent system uncertainties. It is shown that the roll angle, pitch angle and yaw angle can be globally asymptotically stabilized in the presence of...
This paper proposes a fault-tolerant control strategy for a nonlinear electro-hydraulic system. The fault-tolerant control scheme consists a fault diagnosis system and a reconfigurable controller. The fault diagnosis system is designed based on differential-geometric approach and is robust to system disturbance. Adaptive backstepping method is utilized for realizing the reconfigurable controller....
This paper presents how autonomy adaptation can be useful to enhance the fault tolerance of autonomous mobile robots. For that, we proposed a global and structured methodology which allows integrating specific fault tolerant mechanisms into an adaptive control architecture. When a problem is detected, the autonomous behavior of the robot is automatically adapted to overcome it. The human operator...
Nowadays, fault diagnosis systems design should have into account the distribution and complexity of the process and must be able to cooperate and communicate with other systems to achieve satisfactory performance. To this end a new agent based fault detection system for networked control process is proposed in this paper. A hybrid architecture based on horizontal layers as fault detection (FD) agents...
Most of the existing active control methodologies need a post-fault/failure model of the faulty process for online retuning the controller parameters, or reconfiguration. However, post-fault model identification process takes the precious post-fault time which delays the recovery procedure. A new data-driven fault tolerant model predictive control (MPC) is developed which does not need the post-fault...
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