Robust fault tolerant optimal predictive control of hybrid actuators with time‐varying delay for industrial robot arm

2020 ◽  
Author(s):  
Abdelmalek Zahaf ◽  
Sofiane Bououden ◽  
Mohammed Chadli ◽  
Mohamed Chemachema
Keyword(s):  
Predictive Control ◽  
Fault Tolerant ◽  
Industrial Robot ◽  
Time Varying ◽  
Robot Arm ◽  
Time Varying Delay ◽  
Optimal Predictive Control ◽  
Varying Delay

Fault-tolerant SMC for Takagi–Sugeno fuzzy systems with time-varying delay and actuator saturation

2017 ◽  
Vol 11 (8) ◽  
pp. 1112-1123 ◽  
Author(s):  
Palanisamy Selvaraj ◽  
Boomipalagan Kaviarasan ◽  
Rathinasamy Sakthivel ◽  
Hamid Reza Karimi
Keyword(s):  
Fuzzy Systems ◽  
Actuator Saturation ◽  
Fault Tolerant ◽  
Time Varying ◽  
Time Varying Delay ◽  
Takagi Sugeno ◽  
Varying Delay

scholarly journals Robust dynamic output feedback fault-tolerant control for Takagi-Sugeno fuzzy systems with interval time-varying delay via improved delay partitioning approach

2016 ◽  
Vol 14 (1) ◽  
pp. 986-1006 ◽  
Author(s):  
Chao Sun ◽  
Fuli Wang ◽  
Xiqin He
Keyword(s):  
Output Feedback ◽  
Fuzzy Systems ◽  
Fault Tolerant ◽  
Fault Estimation ◽  
Time Varying ◽  
Interval Time ◽  
Time Varying Delay ◽  
Takagi Sugeno ◽  
Delay Partitioning ◽  
Varying Delay

AbstractThis paper addresses the problem of robust fault-tolerant control design scheme for a class of Takagi-Sugeno fuzzy systems subject to interval time-varying delay and external disturbances. First, by using improved delay partitioning approach, a novel n-steps iterative learning fault estimation observer under H∞ constraint is constructed to achieve estimation of actuator fault. Then, based on the online estimation information, a fuzzy dynamic output feedback fault-tolerant controller considered interval time delay is designed to compensate for the impact of actuator faults, while guaranteing that the closed-loop system is asymptotically stable with the prescribed H∞ performance. Moreover, all the obtained less conservative sufficient conditions for the existence of fault estimation observer and fault-tolerant controller are formulated in terms of linear matrix inequalities. Finally, the numerical examples and simulation results are presented to show the effectiveness and merits of the proposed methods.

scholarly journals Dynamic Quantized Predictive Control for Systems with Time-Varying Delay and Packet Loss in the Forward Channel

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Mu Li ◽  
Lihua Dou ◽  
Jian Sun ◽  
Di Wang
Keyword(s):  
Predictive Control ◽  
Packet Loss ◽  
Time Varying ◽  
Matrix Inequality ◽  
Time Varying Delay ◽  
Sufficient Stability Condition ◽  
Sufficient Stability ◽  
Forward Channel ◽  
Dynamic Quantizer ◽  
Varying Delay

Stability and design of a dynamic quantized predictive control system with time-varying delay and packet loss are studied. For the system with time-varying delay and packet loss in the forward channel, a dynamic quantizer that can minimize the quantized output error is designed and a networked quantized predictive control (NQPC) strategy is proposed to compensate for the delay and packet loss. Stability of the NQPC system is then analyzed and a sufficient stability condition is derived and presented in the form of matrix inequality. Finally, both simulation and experimental results are given to demonstrate the effectiveness of the proposed approach.

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