Adaptive Sliding Mode Observer-Based Robust Fault Reconstruction for a Helicopter With Actuator Fault

2015 ◽  
Vol 18 (4) ◽  
pp. 1558-1565 ◽  
Author(s):  
Fuyang Chen ◽  
Kangkang Zhang ◽  
Bin Jiang ◽  
Changyun Wen
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Actuator Fault ◽  
Adaptive Sliding Mode ◽  
Fault Reconstruction

Development of a Self-Parameter Tuning Based Adaptive Sliding Mode Observer for Input Fault Reconstruction of Longitudinal Autonomous Driving

2020 ◽  
Author(s):  
Tae-Jun Song ◽  
Kwang-Seok Oh ◽  
Jong-Min Lee ◽  
Kyong-Su Yi
Keyword(s):  
Sliding Mode ◽  
Parameter Tuning ◽  
Autonomous Driving ◽  
Sliding Mode Observer ◽  
Recursive Least Squares ◽  
Adaptive Sliding Mode ◽  
Adaptive Parameter ◽  
Fault Reconstruction ◽  
Injection Parameter ◽  
Evaluation Algorithm

Abstract This paper presents an adaptive sliding mode observer for input fault reconstruction of longitudinal autonomous driving. Sliding mode observer is the robust observer against disturbance, which is used to reconstruct the fault and state estimation. In order to design the injection parameter for sliding mode observer, the boundary of errors that include the fault is required. However, it is difficult to expect the fault magnitude for design the injection parameter. The proposed method is to estimate the proportional constant from the relationship between output error and injection parameter based on recursive least squares. Then, it is used to update the adaptive parameter based on MIT rule. The performance evaluation algorithm was conducted in Matlab/Simulink environment using actual longitudinal driving data and 3-dimensions vehicle model with the applied various faults.

scholarly journals Actuator fault-based integrated control for vehicle chassis system

2020 ◽  
pp. 002029402097757
Author(s):  
Jinwei Sun ◽  
Jingyu Cong ◽  
Weihua Zhao ◽  
Yonghui Zhang
Keyword(s):  
Performance Enhancement ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Integrated Control ◽  
Stability Control ◽  
Actuator Fault ◽  
Roll Moment ◽  
Fault Reconstruction ◽  
Driving Conditions ◽  
Vehicle Chassis

An integrated fault tolerant controller is proposed for vehicle chassis system. Based on the coupled characteristics of vertical and lateral system, the fault tolerant controller mainly concentrates on the cooperative control of controllable suspension and lateral system with external disturbances and actuator faults. A nine-DOF coupled model is developed for fault reconstruction and accurate control. Firstly, a fault reconstruction mechanism based on sliding mode is introduced; when the sliding mode achieves, actuator fault signals can be observed exactly through selecting appropriate gain matrix and equivalent output injection term. Secondly, an active suspension controller, a roll moment controller and a stability controller is developed respectively; the integrated control strategy is applied to the system under different driving conditions: when the car is traveling straightly, the main purpose of the integrated strategy is to improve the vertical performance; the lateral controller including roll moment control and stability control will be triggered when there is a steering angle input. Simulations experiments verify the performance enhancement and stability of the proposed controller under three different driving conditions.

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