Fault tolerant control design based higher-order sliding mode control for Internal Combustion engine

2014 ◽  
Author(s):  
N'doye Bada ◽  
Sonane Ahmed Ali ◽  
Nicolas Langlois
Keyword(s):  
Sliding Mode Control ◽  
Internal Combustion Engine ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Combustion Engine ◽  
Control Design ◽  
Fault Tolerant Control ◽  
Internal Combustion ◽  
Higher Order ◽  
Mode Control

Higher order integral nested sliding mode control of internal combustion engine

2014 ◽  
Author(s):  
Marco Meza-Aguilar ◽  
Juan Diego Sanchez-Torres ◽  
Antonio Navarrete-Guzman ◽  
Jorge Rivera ◽  
Alexander G. Loukianov
Keyword(s):  
Sliding Mode Control ◽  
Internal Combustion Engine ◽  
Sliding Mode ◽  
Combustion Engine ◽  
Internal Combustion ◽  
Higher Order ◽  
Mode Control

Fault tolerant control based on backstepping nonsingular terminal integral sliding mode and impedance control for a lower limb exoskeleton

2021 ◽  
pp. 095440622110357
Author(s):  
Majied Mokhtari ◽  
Mostafa Taghizadeh ◽  
Pegah Ghaf Ghanbari
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Impedance Control ◽  
Fault Tolerant Control ◽  
Integral Type ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Control Scheme

In this paper, an active fault-tolerant control scheme is proposed for a lower limb exoskeleton, based on hybrid backstepping nonsingular fast terminal integral type sliding mode control and impedance control. To increase the robustness of the sliding mode controller and to eliminate the chattering, a nonsingular fast terminal integral type sliding surface is used, which ensures finite time convergence and high tracking accuracy. The backstepping term of this controller guarantees global stability based on Lyapunov stability criterion, and the impedance control reduces the interaction forces between the user and the robot. This controller employs a third order super twisting sliding mode observer for detecting, isolating ad estimating sensor and actuator faults. Motion stability based on zero moment point criterion is achieved by trajectory planning of waist joint. Furthermore, the highest level of stability, minimum error in tracking the desired joint trajectories, minimum interaction force between the user and the robot, and maximum system capability to handle the effect of faults are realized by optimizing the parameters of the desired trajectories, the controller and the observer, using harmony search algorithm. Simulation results for the proposed controller are compared with the results obtained from adaptive nonsingular fast terminal integral type sliding mode control, as well as conventional sliding mode control, which confirm the outperformance of the proposed control scheme.

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