scholarly journals Fault-Tolerant Control with Control Allocation for Time-Varying Linear Systems by Using Continuous Integral Sliding Modes

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Oziel Hernández-Durán ◽  
Rosalba Galván-Guerra ◽  
Juan Eduardo Velázquez-Velázquez ◽  
Benjamín A. Itzá-Ortiz
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Linear Quadratic Regulator ◽  
Fault Tolerant Control ◽  
Control Allocation ◽  
Time Varying ◽  
Sliding Modes ◽  
Linear Quadratic ◽  
Time Varying Systems ◽  
Inversion Techniques

A fault-tolerant control algorithm based on sliding modes is proposed to ensure the tracking of the desired trajectory for time-varying systems even in the presence of actuator faults. The proposed algorithm uses a continuous integral sliding mode and a linear quadratic regulator, together with control allocation and system inversion techniques, resulting in both a finite-time exact compensation of the faults and the exponential tracking of the reference.

Dual-sliding mode approach for separated fault detection and tolerant control for functional safety of longitudinal autonomous driving

2020 ◽  
pp. 095440702096262
Author(s):  
Taejun Song ◽  
Jongmin Lee ◽  
Kwangseok Oh ◽  
Kyongsu Yi
Keyword(s):  
Fault Detection ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Linear Quadratic Regulator ◽  
Fault Tolerant Control ◽  
Autonomous Driving ◽  
Sliding Mode Observer ◽  
Functional Safety ◽  
Linear Quadratic ◽  
Fault Reconstruction

This paper describes model-based separated fault detection and fault tolerant control of longitudinal autonomous driving using dual-sliding mode observer for functional safety. Internal and environment sensors such as camera or radar are required to measure the acceleration information of the subject vehicle and the relative distance and velocity information between the preceding and subject vehicles in longitudinal autonomous driving. In order to detect the independent fault of each sensor, a dual-sliding mode observer (SMO) is used for fault reconstruction under the assumption that V2V (Vehicle to Vehicle) communication for vehicle driving state is available. The each SMO reconstructs the expected fault in sensor based on discontinuous injection term used for converging output error to zero. Based on the reconstructed fault by each SMO, faults are detected using threshold approach. When the fault is detected, the reconstructed fault is used for fault tolerant control by subtracting to faulty data. The proposed fault detection (FD) and fault tolerant control (FTC) algorithms were evaluated using actual driving data and a three-dimensional (3D) vehicle model with a linear quadratic regulator for following control. The evaluation results are presented and analyzed with regard to fault reconstruction, detection, and tolerant control in four cases wherein two types of faults were applied.

Fault-tolerant control approach based on constraint control allocation for 4WIS/4WID vehicles

2021 ◽  
pp. 095440702098283
Author(s):  
Yang Liu ◽  
Changfu Zong ◽  
Dong Zhang ◽  
Hongyu Zheng ◽  
Xiaojian Han ◽  
...  
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Linear Quadratic Regulator ◽  
Fault Tolerant Control ◽  
Control Allocation ◽  
Linear Quadratic ◽  
Control Approach ◽  
Actuator Failures ◽  
Performance Reduction ◽  
Actuator Control

The four-wheel independently driven and steered electric vehicle is a promising vehicle model having a strong potential for handling stability, flexibility, and consumption reduction. However, failure of the actuators of 4WIS/4WID vehicles could lead to performance reduction and dangerous accidents owing to their complex system. A fault-tolerant control approach is adopted in the integrated chassis controller such that the autonomously driven vehicle maintains its safety and stability while actuator failures occur. A linear quadratic regulator is utilized to track the reference path by adjusting the total forces and moment. To resolve any actuator failures, a control allocation method based on the pseudo-inverse matrix is introduced for decoupling the forces and moment based on the current state of the tires with cycle and correction. In the actuator control layer, the desired forces of the tires are achieved by regulating the steering angles and driving torques based on the inverse tire models of normal and flat tires. Three sets of experiments are used to test the efficiency of the proposed method when applied to a 4WIS/4WID vehicle. The results demonstrate that the proposed fault-tolerant control method can greatly improve the tracking performance and stability of 4WIS/4WID vehicles under conditions of actuator failures.

scholarly journals Flight evaluation of a sliding mode online control allocation scheme for fault tolerant control

Automatica ◽  
2020 ◽  
Vol 114 ◽  
pp. 108829 ◽  
Author(s):  
Lejun Chen ◽  
Christopher Edwards ◽  
Halim Alwi ◽  
Masayuki Sato
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Online Control ◽  
Control Allocation ◽  
Allocation Scheme

scholarly journals Active Fault-Tolerant Control of a Quadcopter against Time-Varying Actuator Faults and Saturations Using Sliding Mode Backstepping Approach

2019 ◽  
Vol 9 (19) ◽  
pp. 4010 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Sung Kyung Hong
Keyword(s):  
Fault Diagnosis ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Fault Estimation ◽  
Time Varying ◽  
Actuator Faults ◽  
Active Fault Tolerant Control

Fault-tolerant control is becoming an interesting topic because of its reliability and safety. This paper reports an active fault-tolerant control method for a quadcopter unmanned aerial vehicle (UAV) to handle actuator faults, disturbances, and input constraints. A robust fault diagnosis based on the H ∞ scheme was designed to estimate the magnitude of a time-varying fault in the presence of disturbances with unknown upper bounds. Once the fault estimation was complete, a fault-tolerant control scheme was proposed for the attitude system, using adaptive sliding mode backstepping control to accommodate the actuator faults, despite actuator saturation limitation and disturbances. The Lyapunov theory was applied to prove the robustness and stability of the closed-loop system under faulty operation. Simulation results show the effectiveness of the fault diagnosis scheme and proposed controller for handling actuator faults.

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