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Active fault tolerant control for nonlinear systems with simultaneous actuator and sensor faults

  • Control Theory
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Abstract

The goal of this paper is to describe a novel fault tolerant tracking control (FTTC) strategy based on robust fault estimation and compensation of simultaneous actuator and sensor faults. Within the framework of fault tolerant control (FTC) the challenge is to develop an FTTC design strategy for nonlinear systems to tolerate simultaneous actuator and sensor faults that have bounded first time derivatives. The main contribution of this paper is the proposal of a new architecture based on a combination of actuator and sensor Takagi-Sugeno (T-S) proportional state estimators augmented with proportional and integral feedback (PPI) fault estimators together with a T-S dynamic output feedback control (TSDOFC) capable of time-varying reference tracking. Within this architecture the design freedom for each of the T-S estimators and the control system are available separately with an important consequence on robust L 2 norm fault estimation and robust L 2 norm closed-loop tracking performance. The FTTC strategy is illustrated using a nonlinear inverted pendulum example with time-varying tracking of a moving linear position reference.

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Authors and Affiliations

  1. Department of Electrical Engineering, University of Technology, Baghdad, Iraq

    Montadher Sami

  2. School of Engineering, University of Hull, Hull, HU6 7RX, UK

    Ron J. Patton

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  1. Montadher Sami
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Correspondence to Montadher Sami.

Additional information

Recommended by Editorial Board member Do Wan Kim under the direction of Editor Ju Hyun Park.

Montadher Sami was born in Iraq, in 1979. He received his Ph.D. degree in Automatic Control from the University of Hull, UK in 2012. He is currently a Lecturer in Automatic Control at the Electrical Engineering department, University of Technology, Iraq. His research interests include robust on-line fault estimation for nonlinear systems, Fault Tolerant Control (FTC), and wind turbine control.

Ron J. Patton graduated at Sheffield University with BEng, MEng and PhD degrees in Electrical & Electronic Engineering and Control Systems, in 1971, 1974, and 1980, respectively. He has held a number of posts in industry and universities. From 1981 to 1994 he was leader of Control Research at York University, UK. Since 1995 Ron has held the Chair in Control & Intelligent Systems Engineering at Hull University. He has made a substantial contribution to the field of modelling in fault diagnosis and the design of robust methods for FDI/FDD in dynamic systems as author of 348 papers, including 99 journal papers and 6 books. He is Subject Editor in System Supervision: Fault-tolerant Control & Diagnosis for the Wiley Journal of Adaptive Control & Signal Processing. Ron chaired the International Programme Committees for IFAC Safeprocess’97, UKACC Control’98 and the 16th Mediterranean Control Conference, Med’08. He was chair of the IFAC Technical Committee on Safety & Supervision of Technical Processes during 1996 to 2002. Ron initiated and led the fault-tolerant control theme group in the European Science Foundation project Complex Control Systems. For the EC he was rapporteur for the committee reporting on the need for European research on Control in Embedded Systems. Ron coordinated the research projects IQ2FD and DAMADICS. His research interests are: Robust Fault detection and Isolation (FDI) for dynamic systems, multiple-model strategies for FDI/FDD & FTC (Fault-Tolerant Control), Reconfigurable flight control, FTC of de-centralized systems and FTC for offshore wind turbines. He is a Fellow of IEEE.

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Sami, M., Patton, R.J. Active fault tolerant control for nonlinear systems with simultaneous actuator and sensor faults. Int. J. Control Autom. Syst. 11, 1149–1161 (2013). https://doi.org/10.1007/s12555-013-0227-1

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  • DOI: https://doi.org/10.1007/s12555-013-0227-1

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