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题名:
AN ACTIVE FAULT-TOLERANT CONTROL FRAMEWORK AGAINST ACTUATOR STUCK FAILURES UNDER INPUT SATURATIONS
作者: Qi X(齐欣); Theilliol, Didier; He YQ(何玉庆); Han JD(韩建达)
作者部门: 机器人学研究室
通讯作者: 何玉庆
关键词: fault-tolerant control (FTC) ; actuator stuck failure ; actuator constraints ; reference redesign ; linear matrix inequality (LMI)
刊名: INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE
ISSN号: 1641-876X
出版日期: 2017
卷号: 27, 期号:4, 页码:749-761
收录类别: SCI ; EI
EI收录号: 20180504687573
WOS记录号: WOS:000419814400007
产权排序: 1
项目资助者: National Natural Science Foundation of China [U1508208, U1608253]
摘要: In this paper, a control framework including active fault-tolerant control (FTC) and reference redesign is developed subject to actuator stuck failures under input saturations. FTC synthesis and reference redesign approaches are proposed to guarantee post-fault system safety and reference reachability. Then, these features are analyzed under both actuator stuck failures and constraints before fault-tolerant controller switches. As the main contribution, actuator stuck failures and constraints are unified so that they can be easily considered simultaneously. By means of transforming stuck failures into actuator constraints, the post-fault system can be regarded as an equivalent system with only asymmetrical actuator constraints. Thus, methods against actuator saturations can be used to guarantee regional stability and produce the stability region. Based on this region, stuck compensation is analyzed. Specifically, an unstable open-loop system is considered, which is more challenging. Furthermore, the method is extended to a set-point tracking problem where the reachability of the original reference can be evaluated. Then, a new optimal reference will be computed for the post-fault system if the original one is unreachable. Finally, simulation examples are shown to illustrate the theoretical results.
语种: 英语
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/21500
Appears in Collections:机器人学研究室_期刊论文

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作者单位: 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang, PR China
2.University of Lorraine, BP 70239, 54506 Vandoeuvre-les-Nancy, France

Recommended Citation:
Qi X,Theilliol, Didier,He YQ,et al. AN ACTIVE FAULT-TOLERANT CONTROL FRAMEWORK AGAINST ACTUATOR STUCK FAILURES UNDER INPUT SATURATIONS[J]. INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE,2017,27(4):749-761.
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文件名: AN ACTIVE FAULT-TOLERANT CONTROL FRAMEWORK AGAINST ACTUATOR STUCK FAILURES UNDER INPUT SATURATIONS.pdf
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