Actuator fault-tolerant control study of an underwater robot with four rotatable thrusters

2020 ◽  
Vol 197 ◽  
pp. 106929 ◽  
Author(s):  
Jagadeesh Kadiyam ◽  
Anjali Parashar ◽  
Santhakumar Mohan ◽  
Devendra Deshmukh
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Underwater Robot ◽  
Actuator Fault ◽  
Control Study

Predictive actuator fault-tolerant control under ellipsoidal bounding

2015 ◽  
Vol 30 (2) ◽  
pp. 375-392 ◽  
Author(s):  
Marcin Witczak ◽  
Mariusz Buciakowski ◽  
Christophe Aubrun
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Actuator Fault

scholarly journals Robust Adaptive Sliding Mode Fault Tolerant Control for Nonlinear System with Actuator Fault and External Disturbance

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Liang Zheng ◽  
Xuelian Dong ◽  
Qian Luo ◽  
Menglan Zeng ◽  
Xinping Yang ◽  
...  
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Estimation Errors ◽  
Adaptive Sliding Mode ◽  
Sliding Motion ◽  
Robust Adaptive

In this paper, an adaptive sliding mode fault tolerant control (ASMFTC) approach is proposed for a class of nonlinear systems with actuator fault, uncertainty, and external disturbance. Specifically, first, a novel observer is proposed to estimate the state, actuator fault, and external disturbance. Then, by utilising the observed information, a novel output sliding mode observer is constructed. In the control method, an adaptive law and two compensators are designed to attenuate the unknown estimation errors, actuator fault, and disturbance. Furthermore, the reaching ability of the sliding motion is analysed and the H-infinite performance is introduced to ensure the robustness of the system. Finally, a flexible single joint manipulator system and a two-cart system are used to verify the effectiveness of the proposed method.

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