Simultaneous fault detection and consensus control design for a network of multi-agent systems

Hydraulic cylinder is an indispensable linear actuator in high power applications like construction machinery. In order to reduce the energy consumption, the noise and the waste oil disposal pollution of the hydraulic cylinder control system, the most direct method is adopting the direct pump control technology which eliminates the throttle losses in the main power line. In such system, by changing the speed or the displacement of the pump, the pressure and volume flow will be matched with the need of loads. To date, research works in this field have been reported in many articles, but they are scattered and written in different languages. An overview which can summarize the latest development of this technology appears to be necessary. This paper provides a comprehensive review on this technology, aiming at clarifying recent advances and outlining potential challenges in the research and application of this technology. The review mainly covers three parts: system structure, control, and derived energy recovery system. Also the evolvement of the electro-hydraulic cylinder control system is introduced. The review indicates that attentions should be paid to the control and energy recovery plan of the direct pump controlled cylinder system, and to the newly proposed asymmetric pump controlled differential cylinder technology. It is envisaged that the information gathered in this paper will be a valuable one-stop source of information for researchers, as well as providing a direction for future research in this area.

Review of energy efficient direct pump controlled cylinder electro-hydraulic technology

Admissible output consensus design problems for high-order linear time-invariant singular multi-agent systems with constant time delays are dealt with. Firstly, based on the observability decomposition, a dynamic output feedback consensus protocol is proposed, which makes singular multi-agent systems satisfy some separation principle and can simplify admissible output consensus design problems. Then, LMI criteria for admissible output consensualization are presented, which can guarantee the regular and impulse-free properties of singular multi-agent systems directly. Moreover, an approach to determine the output consensus function is presented on the basis of the first equivalent form and the impacts of initial states of consensus protocols and dynamic agents are determined, respectively. Finally, numerical examples are shown to demonstrate theoretical results.

Admissible output consensualization control for singular multi-agent systems with time delays

Summary

This paper is concerned with the simultaneous robust control and fault detection problem for continuous-time switched systems subject to a dwell time constraint. To meet the control and detection objectives under the constraint, the controller/detectors matching different time intervals are first constructed in an output feedback framework. A state-dependent switching law that obeys the dwell time constraint is then designed such that the closed-loop switched system is asymptotically stable and also with the robust and detection performance. Further, the proposed switching law is dependent only on the partial measurable states of the closed-loop system, which is applicable when the states of system mode are fully unavailable. Thus, our result extends the existing ones in state-dependent switching and state-feedback frameworks. Finally, a numerical example is given to illustrate the effectiveness of the proposed method. Copyright © 2015 John Wiley & Sons, Ltd.

Robust control and fault detection for continuous‐time switched systems subject to a dwell time constraint

Multi-robot nonlinear model predictive formation control: Moving target and target absence

ル・グレ摩擦モデルを用いた機械的サーボ・システムの高性能適応制御:同定および補償

Fault tolerant control based on differential engine thrust and ailerons of a damaged aircraft with vertical tail loss

In this paper, authors have made use of differential engine thrust together with ailerons deflection in the control column for the design reconfiguration of an emergency yaw damper to regain the lateral/ directional stability of a transport aircraft which has undergone severe damage to its vertical tail during flight. An earlier version of the transport aircraft Boeing-747 is chosen as a working platform. At first the damage to the vertical tail and its effects on the aerodynamics of the aircraft are modeled and then the role of thrust dynamics and its utilization as a control effector is discussed. Engine thrust dynamics are modeled as a second order system to account for real time delays and for its inclusion in the simulation process. An optimal servo LQR controller is designed to minimize the control effort for the proposed model and simulated in Matlab Simulink environment to analyze the intended fault tolerant control design for different flight conditions. The simulation results are encouraging for the use of differential engine thrust as a control effector together with residual control surfaces and help recover the aircraft from the emergency situation successfully.

The multi-actuator configuration of aircraft generates the control allocation method to realize fault tolerant control. How to make the best use of healthy actuators under position constraints in the presence of some actuator faults is a main problem of control allocation. The safety of aircraft is closely related to the allocation results because the position constraints make it difficile to get the desired performances, especially in fault case. In this paper, firstly, unlike traditional nonlinear dynamic inverse method, an adaptive bandwidth module is added to regenerate the attainable command once an actuator is saturated. Secondly, an adaptive pseudo-inverse method is proposed with the target of preventing the overdriving of actuators. The proposed control scheme is applied to a nonlinear aircraft model.

Wang Xingjian

Papers

ル・グレ摩擦モデルを用いた機械的サーボ・システムの高性能適応制御:同定および補償

Fault tolerant control based on differential engine thrust and ailerons of a damaged aircraft with vertical tail loss

Fault tolerant control based on differential engine thrust and ailerons of a damaged aircraft with vertical tail loss

Control allocation based on adaptive nonlinear dynamic inverse and adaptive pseudo-inverse