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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...
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In this paper, a nonlinear H∞ control is developed for active mass damper systems subject to external perturbation. This robust controller is composed by the sum of a linear term plus a chattering component. The linear term is designed using linear matrix inequality (LMI) theory. Then, the chattering term is added to improve controller performance. Lyapunov theory is invoked to validate our control...
This paper presents preliminary results regarding the development of a supervision scheme for the attitude control system of a nonlinear satellite model. The main issue concerns the handling of faults affecting the reaction wheels, i.e. how to detect and isolate faults, and how to prevent propagation into failures with potential mission loss as a consequence. Thus, this work investigates the design...
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...
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....
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...
This article proposes a robust set-membership fault detection method based on the use of polytopes to bound the parameter uncertainty set. The proposed polytope-based fault detection algorithm is able to handle systems with bounded parameter variation between samples. It is shown that consistency checks indicating faults can be performed in a natural manner with a polytope description of the feasible...
The paper addresses the problem of designing a robust fault detection filter (RFDF) for a class of nonlinear descriptor systems whose nonlinear term are globally Lipschitz and linear term described by a linear parameter varying (LPV) form. The influence of perturbations on the residuals is minimized using the H∞ norm while the sensitivity performance is guaranteed using the H∞ index. Based on the...
In this paper, the problem of robust synchronization and fault detection for a class of master-slave systems subjected to some nonlinear perturbations and mixed neutral and discrete time-varying delays is investigated based on an H∞ performance condition. By introducing a descriptor technique, using Lyapunov-Krasovskii functional and a suitable change of variables, new required sufficient conditions...
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...
This paper is aimed at robust control of a Permanent magnet DC motor based actuator used in the control of the inlet swirl valve of a diesel engine. The actuator has uncertainty issues related to parameter identification and variation, and load disturbance. These issues lead to faults in controllers, resulting in poor performance and failure. The actuator has been modeled taking parameter uncertainties...
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 addresses the robust (in the disturbance de-coupling sense) design problem of fault detection filters for uncertain sampled data systems. The only available signal is the output variable. A novel reduced-order unknown-input observer is proposed such that both the estimation error and the state vector vanish asymptotically, robustly with respect to disturbances affecting the continuous-time...
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...
This paper addresses the problem of design a fault detection system for switched systems with unknown inputs. The residual generator based robust fault detection filter (RFDF) will be used, where the switching signal is assumed to be known, and the continuous states will be estimated, resulting a generation of residual signals for each linear model. Dwell-time constraint will be used to ensure the...
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