scholarly journals Fault Tolerant Control Architecture Design for Mobile Manipulation in Scientific Facilities

10.5772/60038 ◽  
2015 ◽  
Vol 12 (1) ◽  
pp. 4 ◽  
Author(s):  
Mohammad M. Aref ◽  
Reza Oftadeh ◽  
Reza Ghabcheloo ◽  
Jouni Mattila
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Architecture ◽  
Architecture Design ◽  
Mobile Manipulation

scholarly journals A Fault-Tolerant Control Architecture for Different Battery Topologies in Electrified Vehicles

2012 ◽  
Vol 45 (20) ◽  
pp. 582-587 ◽  
Author(s):  
Mehdi Gholami ◽  
Hasan Esen ◽  
Henrik Schioler ◽  
Jakob Stoustrup
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Architecture ◽  
Electrified Vehicles

scholarly journals Active Fault Tolerant Control for Ultrasonic Piezoelectric Motor

2012 ◽  
Vol 63 (4) ◽  
pp. 224-232
Author(s):  
Moussa Boukhnifer
Keyword(s):  
Active Fault ◽  
Controller Design ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Operating Conditions ◽  
System Component ◽  
Control Architecture ◽  
Piezoelectric Motor ◽  
Youla Parameterization ◽  
Active Fault Tolerant Control

Active Fault Tolerant Control for Ultrasonic Piezoelectric MotorUltrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions. Due to these constraints, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an ultrasonic piezoelectric motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback control system will be solely controlled by the proportional plus double-integralPI2 performance controller for a nominal model without disturbances andH∞robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture.

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