Journal ArticleDOI
Passive Actuators' Fault-Tolerant Control for Affine Nonlinear Systems
Mouhacine Benosman,Kai-Yew Lum +1 more
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TLDR
In this brief, the problem of passive fault-tolerant control (FTC) for nonlinear affine systems with actuator faults is considered, and a Lyapunov-based feedback controller is proposed, which ensures the local uniform asymptotic stability of the faulty system.Abstract:
In this brief, the problem of passive fault-tolerant control (FTC) for nonlinear affine systems with actuator faults is considered. Two types of faults, additive and loss-of-effectiveness faults, are treated. In each case, a Lyapunov-based feedback controller is proposed, which ensures the local uniform asymptotic (exponential) stability of the faulty system, if the safe nominal system is locally uniformly asymptotically (exponentially) stable. The effectiveness of the FT controllers is shown on the autonomous helicopter numerical example.read more
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Journal ArticleDOI
Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control
TL;DR: The proposed AFTC scheme possess several advantages such as high precision, strong robustness, no singularity, less chattering, and fast finite-time convergence due to the combined NFTSMC and HOSM control, and requires no prior knowledge of the fault due to TDE-based fault estimation.
Journal ArticleDOI
Robust adaptive fault-tolerant control for uncertain linear systems with actuator failures
Xiao-Jian Li,Guang-Hong Yang +1 more
TL;DR: In this paper, 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 is considered.
Journal ArticleDOI
An Adaptive Backstepping Nonsingular Fast Terminal Sliding Mode Control for Robust Fault Tolerant Control of Robot Manipulators
TL;DR: A novel control methodology for tracking control of robot manipulators based on a novel adaptive backstepping nonsingular fast terminal sliding mode control (ABNFTSMC) is developed and compared with other state-of-the-art controllers.
Journal ArticleDOI
Integral-Type Sliding Mode Fault-Tolerant Control for Attitude Stabilization of Spacecraft
TL;DR: Two fault-tolerant control schemes for spacecraft attitude stabilization with external disturbances are proposed in this brief, based on integral-type sliding mode control strategy to compensate for actuator faults without controller reconfiguration.
Journal ArticleDOI
A novel nonlinear resilient control for a quadrotor UAV via backstepping control and nonlinear disturbance observer
TL;DR: In this article, a novel nonlinear resilient trajectory control for a quadrotor unmanned aerial vehicle (UAV) using backstepping control and nonlinear disturbance observer is proposed.
References
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Book
Nonlinear Systems Analysis
TL;DR: In this article, the authors consider non-linear differential equations with unique solutions, and prove the Kalman-Yacubovitch Lemma and the Frobenius Theorem.
Journal ArticleDOI
Bibliographical review on reconfigurable fault-tolerant control systems
Youmin Zhang,Jin Jiang +1 more
TL;DR: A bibliographical review on reconfigurable fault-tolerant control systems (FTCS) is presented, with emphasis on the reconfiguring/restructurable controller design techniques.
Journal ArticleDOI
Sliding controller design for non-linear systems
TL;DR: In this paper, a trade-off between tracking precision and robustness to modelling uncertainty is presented, where tracking accuracy is sot according to the extent, of parametric uncertainty and the frequency range of unmodelled dynamics.
Journal ArticleDOI
Reliable robust flight tracking control: an LMI approach
TL;DR: A reliable robust tracking controller design method is developed based on the mixed linear quadratic (LQ)//H/sub /spl infin// tracking performance index and multiobjective optimization in terms of linear matrix inequalities.
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