A Passive Fault-Tolerant Switched Control Approach for Linear Multivariable Systems: Application to a Quadcopter Unmanned Aerial Vehicle Model

2019 ◽  
Vol 142 (3) ◽  
Author(s):  
Hasan Başak ◽  
Emre Kemer ◽  
Emmanuel Prempain
Keyword(s):  
Output Feedback ◽  
State Feedback ◽  
Fault Tolerant ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Passive State ◽  
Linear Matrix ◽  
Control Approach ◽  
Linear Time Invariant ◽  
L2 Norm

Abstract This paper proposes synthesis algorithms for the design of passive state- and output-feedback fault-tolerant controllers. Sufficient conditions for the existence and the construction of such fault-tolerant controllers are given in terms of linear matrix inequalities (LMIs) which can be solved efficiently. The state-feedback fault-tolerant controller consists of a family of state-feedback gains switched appropriately according to a stabilizing switching signal so that the closed-loop system satisfies a performance requirement expressed in terms of system L2 norm. Similarly, the output feedback controller consists of a family of full-order linear, time-invariant controllers switched according to a stabilizing signal that depends only on the controller states. Both approaches are passive in the sense that they do not rely on the detection and/or the estimation of the faults. The proposed approaches are tested on a nonlinear model of a quadcopter. Simulation results show that satisfactory stability, tracking, and disturbance rejection are maintained despite of time-varying actuator faults.

Robust Observer Based Control for Stability of Linear Systems: Application to Polytopic Systems

2013 ◽  
Vol 136 (1) ◽  
Author(s):  
Mouna Belguith ◽  
Amel Benabdallah
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
State Feedback ◽  
Linear Time ◽  
Sufficient Conditions ◽  
State Feedback Control ◽  
Robust Observer ◽  
Linear Time Invariant ◽  
Polytopic Systems ◽  
Linear Time Invariant Systems

This paper investigates the problem of global stabilization by output feedback for linear time-invariant systems. We give first a procedure to design a robust observer for the linear system. Then using this robust observer with the robust state feedback control law developed by Molander and Willems (1980, “Synthesis of State Feedback Control Laws With a Specified Gain and Phase Margin,” IEEE Trans. Autom. Control, 25(5), pp. 928–931), we construct an output feedback which yields a closed loop system with robustness characteristics. That is, we establish a separation principle. Finally, we give sufficient conditions to establish a robust output feedback for linear polytopic systems.

scholarly journals Weighted Consensus Problem for Multiagent Systems with Edge- and Node-Weighted Directed Graphs

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-13
Author(s):  
Lixin Gao ◽  
Hui Fang ◽  
Wenhai Chen ◽  
He Cao
Keyword(s):  
Output Feedback ◽  
State Feedback ◽  
Linear Time ◽  
Control Strategies ◽  
Directed Graphs ◽  
Output Feedback Control ◽  
Linear Time Invariant ◽  
Special Cases ◽  
Cluster Consensus ◽  
Bipartite Consensus

In this paper, the concept of consensus is generalized to weighted consensus, by which the conventional consensus, the bipartite consensus, and the cluster consensus problems can be unified in the proposed weighted consensus frame. The dynamics of agents are modeled by the general linear time-invariant systems. The interaction topology is modeled by edge- and node-weighted directed graphs. Under both state feedback and output feedback control strategies, the weighted consensus problems are transformed into the equivalent conventional consensus problems. Then, some distributed state feedback and output feedback protocols are proposed to solve the weighted consensus problems. For output feedback case, a unified frame to construct the state-observer-based weighted consensus protocols is proposed, and different design approaches are discussed. As special cases, some related results for bipartite consensus and cluster consensus can be obtained directly. Finally, a simple example is given to illustrate the effectiveness of our proposed approaches.

scholarly journals Adaptive Observer-Based Fault-Tolerant Control Design for Uncertain Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-16 ◽  
Author(s):  
Huaming Qian ◽  
Yu Peng ◽  
Mei Cui
Keyword(s):  
Fault Tolerant ◽  
Linear Time ◽  
Fault Tolerant Control ◽  
Estimation Algorithm ◽  
Adaptive Observer ◽  
Fault Estimation ◽  
Linear Matrix ◽  
Linear Time Invariant ◽  
And Performance ◽  
Aircraft Application

This study focuses on the design of the robust fault-tolerant control (FTC) system based on adaptive observer for uncertain linear time invariant (LTI) systems. In order to improve robustness, rapidity, and accuracy of traditional fault estimation algorithm, an adaptive fault estimation algorithm (AFEA) using an augmented observer is presented. By utilizing a new fault estimator model, an improved AFEA based on linear matrix inequality (LMI) technique is proposed to increase the performance. Furthermore, an observer-based state feedback fault-tolerant control strategy is designed, which guarantees the stability and performance of the faulty system. Moreover, the adaptive observer and the fault-tolerant controller are designed separately, whose performance can be considered, respectively. Finally, simulation results of an aircraft application are presented to illustrate the effectiveness of the proposed design methods.

Synthesis Of Robust Control Systems With Dynamic Actuators And Sensors Using A Static Output Feedback Method

2020 ◽  
Author(s):  
Bruno Sereni ◽  
Roberto K. H. Galv˜ao ◽  
Edvaldo Assun¸c˜ao ◽  
Marcelo C. M. Teixeira
Keyword(s):  
Output Feedback ◽  
Linear Time ◽  
Robust Stabilization ◽  
Linear Matrix ◽  
Static Output Feedback ◽  
Sensors And Actuators ◽  
Actuator Dynamics ◽  
Linear Time Invariant ◽  
Incomplete System ◽  
Static Output

In this paper, we propose a strategy for the robust stabilization of uncertain linear time-invariant(LTI) systems considering sensors and actuators whose dynamics cannot be neglected. The control problem isaddressed by defining an augmented system encompassing the plant, sensor and actuator dynamics. The centralidea of the proposed method lies in the fact that the actual plant states, measured by sensors, are not available forfeedback, and thus, the problem can be regarded as a static output feedback (SOF) control design. Then, SOFgain matrices are computed through a two-stage method, based on linear matrix inequalities (LMIs). Intendingto illustrate the efficacy and explore the main features of the proposed technique, some computational examplesare presented in an application of the method for the design of a robust controller for the classic benchmarkproblem of the two-mass-spring problem. The examples cover the case of asymptotic stabilization of known anduncertain system model, in addition to decay rate inclusion and incomplete system state information.

scholarly journals Simultaneous exact model matching with stability by output feedback

2017 ◽  
Vol 68 (2) ◽  
pp. 148-152
Author(s):  
Konstadinos H. Kiritsis
Keyword(s):  
Output Feedback ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Dynamic Output Feedback ◽  
Model Matching ◽  
Linear Time Invariant ◽  
Exact Model ◽  
Linear Time Invariant Systems ◽  
Necessary And Sufficient ◽  
Time Invariant

Abstract In this paper, is studied the problem of simultaneous exact model matching by dynamic output feedback for square and invertible linear time invariant systems. In particular, explicit necessary and sufficient conditions are established which guarantee the solvability of the problem with stability and a procedure is given for the computation of dynamic controller which solves the problem.

Mixed H2/H∞ Control Approach and its Application in Satellite Attitude Control System

2016 ◽  
Vol 25 ◽  
pp. 89-97 ◽  
Author(s):  
Chuang Liu ◽  
Zhao Wei Sun ◽  
Ke Ke Shi ◽  
Feng Wang
Keyword(s):  
Attitude Control ◽  
Linear Time ◽  
Linear Matrix ◽  
Feedback Gain ◽  
Control Input ◽  
Attitude Control System ◽  
Control Approach ◽  
Linear Time Invariant ◽  
Satellite Attitude ◽  
Linear Time Invariant System

In this paper, we address the mixed H2/H∞ control approach for linear time-invariant system based on linear matrix inequality (LMI). First, the problem to be solved is stated, and the satellite attitude dynamics is established and converted into a corresponding state space form. Then, the mixed H2/H∞ controller based on LMIs is designed in order to attain the state feedback gain matrix. To validate the efficiency and practicability of the proposed controller, simulation results based on satellite attitude system are presented, from which we can observe that under the condition of external disturbances, the system will be stable within 150s, and the maximum of control torque will be no more than 0.025Nm. Expanding the controller gain will affect the stabilizing process, but not the stabilization time, and it will increase the control input which will bring pressure to the actuator.

Modeling and Fuzzy Control for Complex Flexible Nonlinear Systems with Time-Delay

2014 ◽  
Vol 602-605 ◽  
pp. 920-923
Author(s):  
Ji Xiang Chen
Keyword(s):  
Time Delay ◽  
Feedback Control ◽  
Nonlinear Systems ◽  
Discrete Time ◽  
State Feedback ◽  
Sufficient Conditions ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Control Approach ◽  
Fuzzy State

A time-delay discrete-time fuzzy singularly perturbed modeling and fuzzy state feedback control approach are presented for a class of complex flexible nonlinear systems with time-delay. The considered flexible nonlinear system is firstly described by a time-delay standard discrete-time fuzzy singular perturbation model. A fuzzy state feedback control law is secondly design. By using a matrix spectral norm and linear matrix inequalities approach, the sufficient conditions of the controller existence are divided. The provided controller not only can stabilize the resulting closed-loop system but also overcome the effects caused by both time-delay and external disturbances. A simulation example is given to illustrate the effectiveness of the developed result.

scholarly journals General Output Feedback Stabilization for Fractional Order Systems: An LMI Approach

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Yiheng Wei ◽  
Hamid Reza Karimi ◽  
Shu Liang ◽  
Qing Gao ◽  
Yong Wang
Keyword(s):  
Fractional Order ◽  
Output Feedback ◽  
Linear Time ◽  
Output Feedback Control ◽  
Feedback Stabilization ◽  
Linear Matrix ◽  
Feedback Controllers ◽  
Linear Time Invariant ◽  
Output Feedback Stabilization ◽  
Closed Loop Systems

This paper is concerned with the problem of general output feedback stabilization for fractional order linear time-invariant (FO-LTI) systems with the fractional commensurate order0<α<2. The objective is to design suitable output feedback controllers that guarantee the stability of the resulting closed-loop systems. Based on the slack variable method and our previous stability criteria, some new results in the form of linear matrix inequality (LMI) are developed to the static and dynamic output feedback controllers synthesis for the FO-LTI system with0<α<1. Furthermore, the results are extended to stabilize the FO-LTI systems with1≤α<2. Finally, robust output feedback control is discussed. Numerical examples are given to illustrate the effectiveness of the proposed design methods.

scholarly journals Distributed RobustH∞Consensus Control of Multiagent Systems with Communication Errors Using Dynamic Output Feedback Protocol

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Xi Yang ◽  
Jinzhi Wang
Keyword(s):  
Multiagent Systems ◽  
Output Feedback ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Dynamic Output Feedback ◽  
Linear Time Invariant ◽  
Dynamic Output ◽  
Output Information ◽  
Linear Time Invariant System ◽  
Communication Errors

This paper studies robust consensus problem for multiagent systems modeled by an identical linear time-invariant system under a fixed communication topology. Communication errors in the transferred data are considered, and only the relative output information between each agent and its neighbors is available. A distributed dynamic output feedback protocol is proposed, and sufficient conditions for reaching consensus with a prescribedH∞performance are presented. Numerical examples are given to illustrate the theoretical results.

Robust H2 Output Feedback Controller Design for Damping Power System Oscillations

2017 ◽  
Vol 6 (10) ◽  
pp. 8
Author(s):  
Kho Hie Kwee ◽  
Hardiansyah .
Keyword(s):  
Power System ◽  
Output Feedback ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Parameter Uncertainties ◽  
Worst Case ◽  
Output Feedback Controller ◽  
Power System Oscillations

This paper addresses the design problem of robust H2 output feedback controller design for damping power system oscillations. Sufficient conditions for the existence of output feedback controllers with norm-bounded parameter uncertainties are given in terms of linear matrix inequalities (LMIs). Furthermore, a convex optimization problem with LMI constraints is formulated to design the output feedback controller which minimizes an upper bound on the worst-case H2 norm for a range of admissible plant perturbations. The technique is illustrated with applications to the design of stabilizer for a single-machine infinite-bus (SMIB) power system. The LMI based control ensures adequate damping for widely varying system operating.

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