With the continuous increase in complexity and expense of industrial systems, there is less tolerance for performance degradation, productivity decrease, and safety hazards, which greatly necessitates to detect and identify any kinds of potential abnormalities and faults as early as possible and implement real-time fault-tolerant operation for minimizing performance degradation and avoiding dangerous situations. During the last four decades, fruitful results have been reported about fault diagnosis and fault-tolerant control methods and their applications in a variety of engineering systems. The three-part survey paper aims to give a comprehensive review of real-time fault diagnosis and fault-tolerant control, with particular attention on the results reported in the last decade. In this paper, fault diagnosis approaches and their applications are comprehensively reviewed from model- and signal-based perspectives, respectively.

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A Survey of Fault Diagnosis and Fault-Tolerant Techniques—Part I: Fault Diagnosis With Model-Based and Signal-Based Approaches

Disturbance-observer-based control (DOBC) and related methods have been researched and applied in various industrial sectors in the last four decades. This survey, at first time, gives a systematic and comprehensive tutorial and summary on the existing disturbance/uncertainty estimation and attenuation techniques, most notably, DOBC, active disturbance rejection control, disturbance accommodation control, and composite hierarchical antidisturbance control. In all of these methods, disturbance and uncertainty are, in general, lumped together, and an observation mechanism is employed to estimate the total disturbance. This paper first reviews a number of widely used linear and nonlinear disturbance/uncertainty estimation techniques and then discusses and compares various compensation techniques and the procedures of integrating disturbance/uncertainty compensation with a (predesigned) linear/nonlinear controller. It also provides concise tutorials of the main methods in this area with clear descriptions of their features. The application of this group of methods in various industrial sections is reviewed, with emphasis on the commercialization of some algorithms. The survey is ended with the discussion of future directions.

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Disturbance-Observer-Based Control and Related Methods—An Overview

This paper proposes the adaptive extended state observer (AESO)-based active disturbance rejection control (ADRC) to deal with the uncertainties, both in the plant and in the sensors. The gain of ESO is automatically timely tuned to reduce the estimation errors of both states and “total disturbance” against the measurement noise. Furthermore, the satisfactory performance of the closed-loop system is achieved by compensation for uncertainties. This novel controller is applied to the air–fuel ratio (AFR) control of gasoline engine, which has large nonlinear uncertainties due to the unknown speed change, fuel film dynamics, etc. In addition, the measurement of AFR is polluted by sensor noise. The experimental results demonstrate that the proposed controller can ensure high deviation precision of AFR despite both uncertain dynamics and measurement noise. Moreover, the experimental comparison validates the effectiveness of the AESO's gain by which the performance of ADRC on mitigating uncertainties can be improved.

ADRC With Adaptive Extended State Observer and its Application to Air–Fuel Ratio Control in Gasoline Engines

This study is concerned with the robust adaptive fault-tolerant compensation control problem for linear systems with parameter uncertainty, disturbance and actuator faults including outage, loss of effectiveness and stuck. It is assumed that the lower and upper bounds of actuator efficiency factor, the upper bounds of disturbance and the unparametrisable time-varying stuck fault, are unknown. Then, according to the information from the adaptive mechanism, the effect of actuator fault, exogenous disturbance and parameter uncertainty can be eliminated completely by designing adaptive state feedback controller. Furthermore, it is shown that the solutions of the resulting adaptive closed-loop system are uniformly bounded, the states converge asymptotically to zero. Finally, two examples are given to illustrate the effectiveness and applicability of the proposed design method.

Robust adaptive fault-tolerant control for uncertain linear systems with actuator failures

The problem of anti-disturbance control has been an eternal topic along with the development of the control theory. However, most methodologies can only deal with systems subject to a single equivalent disturbance which was merged by various types of uncertainties. In this paper, a review on anti-disturbance control is presented for systems with multiple disturbances. First, the classical control methods are briefly reviewed for disturbance attenuation or rejection problems. Then, recent advances in disturbance observer based control (DOBC) theory are introduced and especially, the composite hierarchical anti-disturbance control (CHADC) is firstly addressed. A comparison of different approaches is briefly carried out. Finally, focuses in the field on the current research are also addressed with emphasis on the practical application of the techniques.

Anti-disturbance control theory for systems with multiple disturbances: a survey.

It is difficult to diagnose and accommodate the faults if disturbances and faults exist simultaneously in the controlled plants. In this paper, an anti-disturbance fault tolerant control (FTC) scheme is presented for a class of nonlinear systems with both faults and multiple disturbances. The multiple disturbances are supposed to include two types including the uncertain modeled disturbances and norm bounded uncertain disturbances. A composite fault tolerant controller is constructed by integrating a fault accommodation from diagnosis observer with additional disturbance rejection and attenuation performance for two different types of disturbances. As a result, the fault can be accommodated and the multiple disturbances can be rejected and attenuated simultaneously. Simulations for a flight control system are given to show the efficiency of the proposed approach.



Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

Fault tolerant control with disturbance rejection and attenuation performance for systems with multiple disturbances

Multi-objective robust initial alignment algorithm for Inertial Navigation System with multiple disturbances☆

Initial alignment for inertial navigation system (INS) has been widely used in practice under the assumption of Gaussian noises. In most previous works, nonlinear dynamics was ignored and the disturbances were merged into either a Gaussian or norm-bounded variable, where the Kalman filtering or robust filtering can be applied, respectively. In this article, the unmodelled nonlinear dynamics, drifts, parametric uncertainties, as well as other disturbances are considered simultaneously and are formulated into different types of uncertain disturbances described by the exo-system, stochastic and norm-bounded variable, respectively. A nonlinear initial alignment approach for INS is first presented based on a new disturbance attenuation and rejection filtering scheme against multiple disturbances. The INS error model with both nonlinear dynamics and multiple disturbances is established and the initial alignment problem is transformed into a robust nonlinear filter design problem for a class of nonlinear systems...

Songyin Cao

Papers

Anti-disturbance control theory for systems with multiple disturbances: a survey.

Fault tolerant control with disturbance rejection and attenuation performance for systems with multiple disturbances

Multi-objective robust initial alignment algorithm for Inertial Navigation System with multiple disturbances☆

Initial alignment for nonlinear inertial navigation systems with multiple disturbances based on enhanced anti-disturbance filtering

Anti-disturbance fault diagnosis for non-Gaussian stochastic distribution systems with multiple disturbances