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.
Tracking Fault Tolerant Control for Hybrid System: Two-Link Human Arm Application
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received August 18, 2017; final manuscript received December 12, 2018; published online January 31, 2019. Assoc. Editor: Yahui Liu.
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Islem, L., Nadia, Z., and Asma, T. (January 31, 2019). "Tracking Fault Tolerant Control for Hybrid System: Two-Link Human Arm Application." ASME. J. Dyn. Sys., Meas., Control. May 2019; 141(5): 051015. https://doi.org/10.1115/1.4042378
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