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Accommodation of actuator fault using local diagnosis and IMC-PID

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  • Control Theory
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Abstract

This paper presents an Internal Model Control (IMC) based PID control system architecture that can tolerate faulty actuators in a networked environment. The proposed control architecture contains several smart actuating nodes which are interconnected by a fieldbus network. In the case of a fault with an actuator, the proposed method recalculates the IMC-PID control parameters through an iterative optimization process utilizing the diagnostic information. The diagnostic information, being generated locally by each actuator, includes an actuation performance index, called condition data, representing the device status. The effectiveness of the proposed method is verified with a Hardwarein-the-Loop (HIL) simulator for a crane system, consisting of DC motors, several computing nodes, and a CAN bus network.

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Authors and Affiliations

  1. School of Electronics Engineering, Kyungpook National University, 1370, Sankyuk-dong, Buk-gu, Daegu, 702-701, Korea

    Donggil Kim, Dongik Lee & Kalyana C. Veluvolu

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  1. Donggil Kim
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  2. Dongik Lee
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  3. Kalyana C. Veluvolu
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Corresponding author

Correspondence to Dongik Lee.

Additional information

Recommended by Associate Editor Young Soo Suh under the direction of Editor Myotaeg Lim.

This research was supported by the International Research & Development Program of the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning of Korea (NRF-2012K1A3A7A03057508).

Donggil Kim received his B.Sc. and M.Sc. in Electronics Engineering from Kyungpook National University, Korea, in 2006 and 2008, respectively, and currently pursuing a Ph.D. degree at Kyungpook National University, Korea. His current research interests including fault tolerant control, fault detection and diagnosis and fieldbus for design of dependable networked control system.

Dongik Lee received his B.Sc. and M.Sc. in Control Engineering from Kyungpook National University, Korea, in 1987 and 1990, respectively. In 2002, he received his Ph.D. from Sheffield University, England. He is now an Associate Professor of the School of Electronics Engineering, Kyungpook National University. His research interest focuses on the design of real-time networked control for various safety-critical applications, including submarines, autonomous underwater vehicles and intelligent automobiles.

Kalyana C. Veluvolu received his B. Tech. degree in Electrical and Electronic Engineering from Acharya Nagarjuna University, Guntur, India, in 2002, and his Ph.D. degree in Electrical Engineering from Nanyang Technological University, Singapore, in 2006. Since 2009, he has been with the College of IT Engineering, Kyungpook National University, Daegu, Korea, where he is currently an Associate Professor. During 2006–2009, he was a Research Fellow in Biorobotics Group, Robotics Research Center, Nanyang Technological University. His current research interests include nonlinear estimation and filtering, sliding mode control, brain-computer interface, biomedical signal processing, and surgical robotics.

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Kim, D., Lee, D. & Veluvolu, K.C. Accommodation of actuator fault using local diagnosis and IMC-PID. Int. J. Control Autom. Syst. 12, 1139–1149 (2014). https://doi.org/10.1007/s12555-013-0164-z

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  • DOI: https://doi.org/10.1007/s12555-013-0164-z

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