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.

References

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
.
You do not currently have access to this content.