Fault-tolerant tracking control for a non-linear twin-rotor system under ellipsoidal bounding

• Autorzy: Kukurowski Norbert , Mrugalski Marcin , Pazera Marcin , Witczak Marcin

Identyfikatory

DOI

10.34768/amcs-2022-0013

• Języki publikacji: EN

Abstrakty

EN

A novel fault-tolerant tracking control scheme based on an adaptive robust observer for non-linear systems is proposed. Additionally, it is presumed that the non-linear system may be faulty, i.e., affected by actuator and sensor faults along with the disturbances, simultaneously. Accordingly, the stability of the robust observer as well as the fault-tolerant tracking controller is achieved by using the ℋ∞ approach. Furthermore, unknown actuator and sensor faults and states are bounded by the uncertainty intervals for estimation quality assessment as well as reliable fault diagnosis. This means that narrow intervals accompany better estimation quality. Thus, to cope with the above difficulty, it is assumed that the disturbances are over-bounded by an ellipsoid. Consequently, the performance and correctness of the proposed fault-tolerant tracking control scheme are verified by using a non-linear twin-rotor aerodynamical laboratory system.

Słowa kluczowe

EN

fault tolerant control; simultaneous fault; external disturbances; nonlinear system; robust fault estimation; fault detection; fault diagnosis

PL

sterowanie tolerujące uszkodzenia; uszkodzenie równoczesne; zakłócenia zewnętrzne; układ nieliniowy; szacowanie błędu; wykrywanie uszkodzenia; diagnoza uszkodzenia

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2022
• Tom: Vol. 32, no. 2
• Strony: 171--183
• Opis fizyczny: Bibliogr. 38 poz., rys., tab., wykr.

Twórcy

autor

Kukurowski Norbert

• Institute of Control and Computation Engineering University of Zielona Góra, Szafrana 2, 65-516 Zielona Góra, Poland

autor

Mrugalski Marcin

• Institute of Control and Computation Engineering University of Zielona Góra, Szafrana 2, 65-516 Zielona Góra, Poland

autor

Pazera Marcin

• Institute of Control and Computation Engineering University of Zielona Góra, Szafrana 2, 65-516 Zielona Góra, Poland

autor

Witczak Marcin

• Institute of Control and Computation Engineering University of Zielona Góra, Szafrana 2, 65-516 Zielona Góra, Poland

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