Abstract
This paper presents an optimal fault-tolerant control scheme for time-delay systems in wireless network. In order to solve the problem of time delay caused by wireless transmission, time delay compensation item is added to the sliding surface to eliminate the impact of state time delay. Aiming at the modeling uncertainties of the systems, sufficient conditions for asymptotic stability of ideal sliding mode of the system are given based on LMI (linear matrix inequality) technique. To deal with the actuator faults, optimal index of quadratic form is designed to optimize the control law of the nominal system, and then the sliding mode switching control law is constructed to complete the optimal fault-tolerant control for time delay systems with the actuator faults. Finally, the proposed method is applied to the wireless network control system of the quad-rotor UAV (Unmanned Aerial Vehicle). The experiment results show that the proposed method in this paper has obvious advantages compared with the traditional method.
Similar content being viewed by others
References
Ding SX, Zhang P, Yin S, Ding EL (2013) An integrated design framework of fault-tolerant wireless networked control systems for industrial automatic control applications. IEEE Transactions on Industrial Informatics 9(1):462–471
Zhang H, Cheng P, Shi L, Chen JM (2016) Optimal DoS attack scheduling in wireless networked control system. IEEE Transactions on Control System Technology 24(3):843–852
Zhang YM, He SB, Chen JM (2016) Data gathering optimization by dynamic sensing and routing in rechargeable sensor networks. ACM/IEEE Transactions Networking 24(3):1632–1646
Chen JM, Xu WQ, He SB, Sun YX, Thulasiraman P, Shen XM (2010) Utility-based asynchronous flow control algorithm for wireless sensor networks. IEEE Journal on Selected Areas in Communications 28(7):1116–1126
Hong Z, Gao JF, Wang N (2014) Output-feedback controller design of a wireless networked control system with packet loss and time delay. Math Probl Eng 2014(1):1–7
Yu B, Zhang Y, Minchala I, Qu Y (2013) Fault-tolerant control with linear quadratic and model predictive control techniques against actuator faults in a quadrotor UAV. Conference on Control & Fault-tolerant Systems:661–666
Gao ZW, Ding SX (2007) Actuator fault robust estimation and fault-tolerant control for a class of nonlinear descriptor systems. Automatica 43(5):912–920
Liu M, Cao XB, Shi P (2013) Fuzzy-model-based fault-tolerant design for nonlinear stochastic systems against simultaneous sensor and actuator faults. IEEE Trans Fuzzy Syst 21(5):789–799
Meng WC, Yang QM, Sun YX (2016) Guaranteed performance control of DFIG variable-speed wind turbines. IEEE Transactions on Control System Technology 99:1–9. doi:10.1109/TCST.2016.2524531
Gao ZW, Ding SX (2007) Fault estimation and fault-tolerant control for descriptor systems via proportional, multiple-integral and derivative observer design. Iet Control Theory & Applications 1(5):1208–1218
Salinas LR, Slawiñski E, Mut VA (2015) Complete bilateral teleoperation system for a rotorcraft UAV with time-varying delay. Math Probl Eng 2015:1–12
Gao ZW, Ding SX (2007) State and disturbance estimator for time-delay systems with application to fault estimation and signal compensation. IEEE Trans Signal Process 55(12):5541–5551
Girard AR, Dharba S, Pachter M, Chandler PR (2007) Stochastic dynamic programming for uncertainty handling in UAV operations. American Control Conference 2007:1079–1084
Zuo ZQ, Zhang J, Wang YJ (2015) Adaptive fault-tolerant tracking control for linear and lipschitz nonlinear multi-agent systems. IEEE Trans Ind Electron 62(6):3923–3931
Shen Y, Liu LJ, Dowell EH (2013) Adaptive fault-tolerant robust control for a linear system with adaptive fault identification. IET Control Theory Application 7(2):246–252
Sun HB, Li SH, Sun CY (2013) Adaptive fault-tolerant controller design for air breathing hypersonic vehicle with input saturation. Systems Engineering and Electronics 24(3):488–499
Su XM, Wang MY, Dong HG, Zhang QL (2014) Robust fault-tolerant control for time-varying descriptor systems. Mathematics in Practice and Theory 16:249–256
Wang YJ, Song YD, Lewis FL (2015) Robust adaptive fault-tolerant control of multiagent systems with uncertain nonidentical dynamics and undetectable actuation failures. IEEE Trans Ind Electron 62(6):3978–3988
Chen G, Song YD (2014) Robust fault-tolerant cooperative control of multi-agent systems with actuator faults. Control and Decision Conference (2014 CCDC), The 26th Chinese, 2891–2896
Aghili F (2013) Optimal and fault-tolerant torque control of servo motors subject to voltage and current limits. IEEE Trans Control Syst Technol 21(4):1440–1448
Song XQ, Liu CS, Sun JH, Li LR (2014) Optimal fault-tolerant tracking control of systems with parameter uncertainty. IEEE International Conference on System Science and Engineering 2014:119–123
Hua CC, Wang QG, Guan XP (2008) Memoryless state feedback controller design for time-delay systems with matched uncertain nonlinearities. IEEE Trans Autom Control 53(3):801–808
Xia YQ, Jia YM (2003) Robust sliding-mode control of uncertain time-delay systems: an LMI approach. IEEE Trans Autom Control 48(5):1086–1092
Xu SD, Chen CC, Wu ZL (2015) Study of nonsingular fast terminal sliding-mode fault-tolerant control. IEEE Trans Ind Electron 62(6):3906–3913
Choi HH (2007) LMI-based sliding surface design for integral sliding mode control of mismatched uncertain systems. IEEE Trans Autom Control 52:736–742
Yang P, Ni JF, Jiang B, Li X (2014) The adaptive global robust sliding mode control for uncertain systems with time-varying delay. Control and Decision 29(9):1688–1692
Yang H, Cocquempot V, Jiang B (2010) Optimal fault-tolerant path-tracking control for 4WS4WD electric vehicles. IEEE Trans Intell Transp Syst 11(1):237–243
Benhamou D, Chassard D, Mercier FJ, Bouvier-Colle MH (2008) Optimal fault-tolerant control strategy for multi-phase motor drives under an open circuit phase fault condition. International Conference on Electrical Machines 28(1):1–6
Li J, Gao HW, Zhang P, Huang DR (2012) Fault diagnosis and optimal fault-tolerant control for systems with delayed measurements and states. International Journal of Control Automation & systems 10(1):150–157
Sharifi F, Mirzaei M, Gordon BW, Zhang YM (2010) Fault tolerant control of a quadrotor UAV using sliding mode control. Conference on Control and Fault Tolerant Systems 2010:239–244
Xie L, Fu M, de Souza CE (1992) H ∞ control and quadratic stabilization of systems with parameter uncertainty via output feedback. IEEE Trans Autom Control 37:1253–1256
Tang GY, Sun L (2005) Successive approximation procedure of optimal control for nonlinear similar composite systems. Control and Decision 20(1):82–86
Chamseddine A, Li T, Zhang YM, Rabbath CA, Theilliol D (2012) Flatness-based trajectory planning for a quadrotor unmanned aerial vehicle test-bed considering actuator and system constraints. American Control Conference 2012:920–925
Ye SJ, Zhang YM, Rabbath CA, Wang XM, Li Y (2009) An LMI approach to mixed 2 H /H∞ robust fault-tolerant control design with uncertainties. American Control Conference 2009:5540–5545
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Yang, P., Pan, X., Liu, J. et al. Optimal fault-tolerant control for UAV systems with time delay and uncertainties over wireless network. Peer-to-Peer Netw. Appl. 10, 717–725 (2017). https://doi.org/10.1007/s12083-016-0527-3
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12083-016-0527-3