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Fault-tolerant control strategy for actuator faults using LPV techniques: Application to a two degree of freedom helicopter

100%

Montes de Oca S., Puig V., Witczak M., Dziekan Ł.

International Journal of Applied Mathematics and Computer Science

2012

tom 22

nr 1

161-171

In this paper, a Fault Tolerant Control (FTC) strategy for Linear Parameter Varying (LPV) systems that can be used in the case of actuator faults is proposed. The idea of this FTC method is to adapt the faulty plant instead of adapting the controller to the faulty plant. This approach can be seen as a kind of virtual actuator. An integrated FTC design procedure for the fault identification and fault-tolerant control schemes using LPV techniques is provided as well. Fault identification is based on the use of an Unknown Input Observer (UIO). The FTC controller is implemented as a state feedback controller and designed using polytopic LPV techniques and Linear Matrix Inequality (LMI) regions in such a way as to guarantee the closed-loop behavior in terms of several LMI constraints. To assess the performance of the proposed approach, a two degree of freedom helicopter is used.

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

88%

Patton R., Chen L., Klinkhieo S.

International Journal of Applied Mathematics and Computer Science

2012

tom 22

nr 1

149-160

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.

Ograniczanie wyników

2 International Journal of Applied Mathematics and Computer Science

1 Chen L.

1 Dziekan Ł.

1 Klinkhieo S.

1 Montes de Oca S.

1 Patton R.

1 Puig V.

1 Witczak M.

2 2012

Wyniki wyszukiwania

Fault-tolerant control strategy for actuator faults using LPV techniques: Application to a two degree of freedom helicopter

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