Fault Tolerant Control Scheme For Linear Systems With Input Constraints And Actuator Faults
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Fault-tolerant Control Scheme for Linear Systems with Input Constraints and Actuator Faults
In this thesis, we deal with the FTC design problem for a linear system with both input constraints and actuator faults. For the nominal system, a low-high gain controller is designed based on the Lyapunov stability theory and the solution of LMI. An iterative Ricatti equation algorithm is given to find such controller. Based on the designed controller, with the analysis of the linear system subject to actuator saturation, the invariant ellipsoids of attraction and performance regions are calculated. For the case that the initial state is not within the attraction region, a novel methodology based on the reference adjustment technique is proposed in the thesis to achieve large-region stabilization. For the system with certain actuator faults, the fault's influence is analyzed first, its size and the time when it happens will decide whether the system is stable or not and will influence the system's performance. Then two main FTC design methods (PFTC and AFTC) are used to cope with faults and actuator saturation together. The proposed PFTC and AFTC methods have both their restrictions when dealing with the input saturation problem: Since the passive fault-tolerant controller is designed for presumed faults, it can guarantee that the system operates with degraded performance in a small stability region which is decided by the worst fault case. For the AFTC method, the degraded performance caused by faults will be recovered by designing an observer to obtain the fault information. However, its control capability will be reduced due to the fault, and it is hard to analyze the system's stability region. Based on the existing performance analysis principle and the implementation results of PFTC and AFTC, a novel fault-tolerant control scheme based on the reference adjustment technique is proposed to guarantee the system's performance in an acceptable region. Several academic examples are taken all along the thesis to illustrate the methods. Finally, the methodology is applied to the path tracking problem of an autonomous electric vehicle (EV) which has four electromechanical wheel-driven (4WD vehicle) systems under normal and faulty conditions.
Fault Diagnosis and Fault-Tolerant Control Strategies for Non-Linear Systems
Author: Marcin Witczak
language: en
Publisher: Springer Science & Business Media
Release Date: 2013-12-11
This book presents selected fault diagnosis and fault-tolerant control strategies for non-linear systems in a unified framework. In particular, starting from advanced state estimation strategies up to modern soft computing, the discrete-time description of the system is employed Part I of the book presents original research results regarding state estimation and neural networks for robust fault diagnosis. Part II is devoted to the presentation of integrated fault diagnosis and fault-tolerant systems. It starts with a general fault-tolerant control framework, which is then extended by introducing robustness with respect to various uncertainties. Finally, it is shown how to implement the proposed framework for fuzzy systems described by the well-known Takagi–Sugeno models. This research monograph is intended for researchers, engineers, and advanced postgraduate students in control and electrical engineering, computer science, as well as mechanical and chemical engineering.
Advanced Solutions in Diagnostics and Fault Tolerant Control
This book highlights the latest achievements concerning the theory, methods and practice of fault diagnostics, fault tolerant systems and cyber safety. When considering the diagnostics of industrial processes and systems, increasingly important safety issues cannot be ignored. In this context, diagnostics plays a crucial role as a primary measure of the improvement of the overall system safety integrity level. Obtaining the desired diagnostic coverage or providing an appropriate level of inviolability of the integrity of a system is now practically inconceivable without the use of fault detection and isolation methods. Given the breadth and depth of its coverage, the book will be of interest to researchers faced with the challenge of designing technical and medical diagnosis systems, as well as junior researchers and students in the fields of automatic control, robotics, computer science and artificial intelligence.