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Pitch and yaw motion control of 2 DoF helicopter subjected to faults using sliding-mode control

Raghappriya M., Kanthalakshmi S.

Archives of Control Sciences

2022

Vol. 32, No. 2

359--381

This paper presents a fault-tolerant control scheme for a 2 DOF helicopter. The 2 DOF helicopter is a higher-order multi-input multi-output system featuring non-linearity, cross-coupling, and unstable behaviour. The impact of sensor, actuator, and component faults on such highly complex systems is enormous. This work employs sliding mode control, which is based on reaching and super-twisting laws, to handle the problem of fault control. Simulation tests are carried out to show the effectiveness of the algorithms. Various performance metrics are analyzed and the results show SMC based on super-twisting law provides better control with less chattering. The stability of the closed-loop system is mathematically assured, in the presence of faults, which is a key contribution of this research.

Reconfigurability analysis for reliable fault-tolerant control desig

Khelassi A., Theilliol D., Weber P.

International Journal of Applied Mathematics and Computer Science

2011

Vol. 21, no 3

431-439

In this paper the integration of reliability evaluation in reconfigurability analysis of a fault-tolerant control system is considered. The aim of this work is to contribute to reliable fault-tolerant control design. The admissibility of control reconfigurability is analyzed with respect to reliability requirements. This analysis shows the relationship between reliability and control reconfigurability defined generally through Gramian controllability. An admissible solution for reconfigurability is proposed according to reliability evaluation based on energy consumption under degraded functional conditions. The proposed study is illustrated with a flight control application.

Fault detection using neuro-fuzzy networks

Kowal M., Korbicz J., Mendes M.J., Calado J.M.

Systems Science

2002

Vol. 28, nr 1

45-57

Generally, there methodologies for developing and testing fault detection (FD) algorithms can be distinguished: software benches, hardware benches and industrial data. The current approach uses a hardware bench that consists of process under supervision (two interconnected stations), supervision unit, fault diagnosis unit and fault simulation unit. All elements of the bench are connected to a PROFIBUS network that acts as the communication system exchanging information between automation system and distributed field devices. A realistic and flexible environment for developing and testing FD systems has been constructed using elements commonly used in industry. During the current studies actuator faults, sensor faults and leakages have been considered as incipient and abrupt faults. The proposed FD algorithm is based on neuro-fuzzy models that are responsible for residual generation.