Journal ArticleDOI
Fault tolerant control of mechatronics system based on hybrid control
TLDR
In this article, the authors presented fault tolerant control of inverted pendulum via online fuzzy backstepping and anti-control of chaos, which is used frequently in robotic applications and can be found in different forms.Abstract:
This study presents fault tolerant control of inverted pendulum via on-line fuzzy backstepping and anti-control of chaos The inverted pendulum is used frequently in robotic applications and can be found in different forms Based on Lyapunov stability theory for backstepping design, the nonlinear controller and some generic sufficient conditions for asymptotic control are attained Also in this study, anti-control of chaos is applied to increase the fault tolerant of inverted pendulum To achieve this goal, the chaos dynamic must be created in the inverted pendulum system So, the inverted pendulum system has been synchronized to chaotic gyroscope system In this study, control and anti-control concepts are applied to achieve the high quality performance of inverted pendulum system The performances of the proposed control are examined in terms of fault tolerant capability Finally, the efficacies of the proposed methods are illustrated by simulations
Key words: Backstepping design, anti-control, chaos, synchronization, chaotic gyroscope, on-line fuzzy design, inverted pendulum, fault tolerant controlread more
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Synchronization in chaotic systems
TL;DR: This chapter describes the linking of two chaotic systems with a common signal or signals and highlights that when the signs of the Lyapunov exponents for the subsystems are all negative the systems are synchronized.
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Jie Chen,Ron J. Patton +1 more
TL;DR: Robust Model-Based Fault Diagnosis for Dynamic Systems targets both newcomers who want to get into this subject, and experts who are concerned with fundamental issues and are also looking for inspiration for future research.
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Model-based Fault Diagnosis Techniques: Design Schemes, Algorithms, and Tools
TL;DR: This book is to introduce basic model-based FDI schemes, advanced analysis and design algorithms and the needed mathematical and control theory tools at a level for graduate students and researchers as well as for engineers.