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## International Journal of Applied Mathematics and Computer Science

2012 | 22 | 1 | 149-160
Tytuł artykułu

### An LPV pole-placement approach to friction compensation as an FTC problem

Autorzy
Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
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 equilibria and are therefore difficult to linearise. Linear Parameter Varying (LPV) strategies are well suited to model-based control and fault estimation for such systems. This contribution involves pole-placement within suitable LMI regions, guaranteeing both stability and performance of a multi-fault LPV estimator employed within an FTC structure. The proposed design strategy is illustrated using a nonlinear two-link manipulator system with friction forces acting simultaneously at each joint. The friction forces, regarded as a special case of actuator faults, are estimated and their effect is compensated within a polytope controller system, yielding a robust form of active FTC that is easy to apply to real robot systems.
Słowa kluczowe
EN
Rocznik
Tom
Numer
Strony
149-160
Opis fizyczny
Daty
wydano
2012
otrzymano
2011-01-26
poprawiono
2011-09-14
Twórcy
autor
• Department of Engineering, University of Hull, Cottingham, Hull, HU6 7RX, UK
autor
• Department of Engineering, University of Hull, Cottingham, Hull, HU6 7RX, UK
autor
• Synchrotron Light Research Institute (SLRI), P.O. Box 93, Nakhon-Ratchasima, 30000, Thailand
Bibliografia
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• Bokor, J. and Balas, G. (2004). Detection filter design for LPV systems: A geometric approach, Automatica 40(3): 511-518.
• Bona, B. and Indri, M. (2005). Friction compensation in robotics: An overview, Proceedings of the 44th IEEE Conference on Decision and Control/European Control Conference 2005, Seville, Spain, pp. 4360-4367.
• Casavola, A., Famularo, D., Franze, G. and Patton, R. (2008). A fault detection filter design method for a class of linear time-varying systems, 16th Mediterranean Conference on Control and Automation, Ajaccio, France, pp. 1681-1686.
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• Patton, R., Putra, D. and Klinkhieo, S. (2010). Friction compensation as fault-tolerant control problem, International Journal of Systems Science 41(8): 987-1001.
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• Wu, F. (2001). A generalised LPV system analysis and control synthesis framework, International Journal of Control 74(7): 745-749.
Typ dokumentu
Bibliografia
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