This paper proposes a novel fault tolerant control (FTC) scheme for a class of hybrid dynamical system (HDS) subject to sensor faults. The corresponding FTC architecture is designed around a reconfiguration mechanism. It aims to compensate the effects of the sensors degradation and maintain satisfactory performances including continuous stability. Moreover, by using the linear matrix inequalities (LMI) approach, a fault estimation algorithm is fulfilled and the compromise between robustness to disturbances and sensitivity to fault is guaranteed. For the sake of trajectory tracking, a combined robust state feedback and proportional-integral-derivative control system is proposed herein. Finally, extensive simulation results conducted on two-link arm system are included to illustrate the efficiency of the designed FTC scheme.
Issue Section:
Research Papers
References
1.
Yang
, H.
, Cocquempot
, V.
, and Jiang
, B.
, 2009
, “Robust Fault Tolerant Tracking Control With Application to Hybrid Nonlinear Systems
,” IET Control Theory Appl.
, 3
(2
), pp. 211
–224
.2.
Prakash
, J.
, Patwardhan
, S. C.
, and Shah
, S. L.
, 2010
, “Design and Implementation Fault Tolerant Model Predictive Control Scheme on a Simulated Model of a Three-Tank Hybrid System
,” IEEE Conference on Control and Fault-Tolerant Systems
(SysTol
), Nice, France, Oct. 6–8, pp. 173
–178
.3.
Yang
, H.
, Cocquempot
, V.
, and Jiang
, B.
, 2007
, “Fault Tolerant Strategy for Hybrid Longitudinal Control System of Automated Vehicles
,” 46th IEEE Conference on Decision and Control
, (CDC
) New Orleans, LA, Dec. 12–14, pp. 3176
–3181
.4.
Rodrigues
, M.
, Theilliol
, D.
, and Sauter
, D.
, 2006
, “Fault Tolerant Control Design for Switched Systems
,” IFAC Proc. Vol.
, 39
(5
), pp. 223
–228
.5.
Yin
, S.
, Yang
, H.
, and Kaynak
, O.
, 2017
, “Sliding Mode Observer-Based FTC for Markovian Jump Systems With Actuator and Sensor Faults
,” IEEE Trans. Autom. Control
, 62
(7
), pp. 3551
–3558
.6.
Alwi
, H.
, and Edwards
, C.
, 2008
, “Fault Tolerant Control Using Sliding Modes With On-Line Control Allocation
,” Automatica
, 44
(7
), pp. 1859
–1866
.7.
Shen
, Q.
, Wang
, D.
, Zhu
, S.
, and Poh
, E. K.
, 2015
, “Integral-Type Sliding Mode Fault-Tolerant Control for Attitude Stabilization of Spacecraft
,” IEEE Trans. Control Syst. Technol.
, 23
(3
), pp. 1131
–1138
.8.
Hwang
, I.
, Kim
, S.
, Kim
, Y.
, and Seah
, C. E.
, 2010
, “A Survey of Fault Detection, Isolation, and Reconfiguration Methods
,” IEEE Trans. Control Syst. Technol.
, 18
(3
), pp. 636
–653
.9.
Yin
, S.
, Yang
, H.
, Gao
, H.
, Qiu
, J.
, and Kaynak
, O.
, 2017
, “An Adaptive NN-Based Approach for Fault-Tolerant Control of Nonlinear Time-Varying Delay Systems With Unmodeled Dynamics
,” IEEE Trans. Neural Networks Learn. Syst.
, 28
(8
), pp. 1902
–1913
.10.
Zhang
, Y.
, and Jiang
, J.
, 2008
, “Bibliographical Review on Reconfigurable Fault-Tolerant Control Systems
,” Annu. Rev. Control
, 32
(2
), pp. 229
–252
.11.
Patton
, R. J.
, 1997
, “Robustness in Model-Based Fault Diagnosis: The 1995 Situation
,” Annu. Rev. Control
, 21
, pp. 103
–123
.12.
Yang
, H.
, Jiang
, B.
, and Staroswiecki
, M.
, 2007
, “Observer-Based Fault-Tolerant Control for a Class of Switched Nonlinear Systems
,” IET Control Theory Appl.
, 1
(5
), pp. 1523
–1532
.13.
Takrouni
, A.
, Labidi
, I.
, Zanzouri
, N.
, and Ksouri
, M.
, 2015
, “Robust Diagnosis for Hybrid Dynamical Systems
,” 12th International Multi-Conference on
Systems, Signals and Devices (SSD
), Mahdia, Tunisia, Mar. 16–19, pp. 1
–6
.14.
Belkhiat
, D.
, Messai
, N.
, and Manamanni
, N.
, 2011
, “Design of a Robust Fault Detection Based Observer for Linear Switched Systems With External Disturbances
,” Nonlinear Anal.: Hybrid Syst.
, 5
(2
), pp. 206
–219
.15.
Yin
, S.
, Gao
, H.
, Qiu
, J.
, and Kaynak
, O.
, 2017
, “Descriptor Reduced-Order Sliding Mode Observers Design for Switched Systems With Sensor and Actuator Faults
,” Automatica
, 76
, pp. 282
–292
.16.
Babiarz
, A.
, Czornik
, A.
, Klamka
, J.
, Niezabitowski
, M.
, and Zawiski
, R.
, 2014
, “The Mathematical Model of the Human Arm as a Switched Linear System
,” 19th International Conference on Methods and Models in Automation and Robotics
(MMAR
), Miedzyzdroje, Poland, Sept. 2–5, pp. 508
–513
.17.
Lee
, D.
, Glueck
, M.
, Khan
, A.
, Fiume
, E.
, and Jackson
, K.
, 2010
, “A Survey of Modeling and Simulation of Skeletal Muscle
,” ACM Trans. Graph.
, 28
(4
), pp. 1
–13
.18.
Neumann
, T.
, Varanasi
, K.
, Hasler
, N.
, Wacker
, M.
, Magnor
, M.
, and Theobalt
, C.
, 2013
, “Capture and Statistical Modeling of Arm-Muscle Deformations
,” Computer Graphics Forum
, Wiley
, Oxford, UK, pp. 285
–294
.Copyright © 2019 by ASME
You do not currently have access to this content.
