Abstract
The presence of faults in dynamic systems causes the potential loss of some of the control objectives. For that reason, a fault-tolerant controller is required to ensure a proper operation, as well as to reduce the risk of accidents. The present work proposes a passive fault-tolerant controller that is based on robust techniques, which are utilized to adjust a proportional-derivative scheme through a linear matrix inequality. In addition, a nonlinear term is included to improve the accuracy of the control task. The proposed methodology is implemented in the control of a two degrees of a freedom robotic helicopter in a simulation environment, where abrupt faults in the actuators are considered. Finally, the proposed scheme is also tested experimentally in the Quanser® 2-DOF Helicopter, highlighting the effectiveness of the proposed controller.
Highlights
Control of a 2-DOF RoboticThe main objective of a fault-tolerant controller is to preserve stability and a proper performance, even when there is a malfunction in some of the system components
FTC strategies are classified into two categories: The first one is named Active Fault-Tolerant Control (AFTC) which consists of reacting to a component’s malfunction by reconfiguring the system’s controller
The 2-DOF helicopter is a dynamic system that consists of two motors, the first or lift is considered as the actuator one and causes the pitching movement, and a tail motor or actuator two, which produces the yaw movement; both direct current motors are driven with a nominal voltage of 12 volts
Summary
The main objective of a fault-tolerant controller is to preserve stability and a proper performance, even when there is a malfunction in some of the system components. With the objective of assuring the suitability of a proposed scheme, it is required to settle on adequate methods of analysis In this fashion, different techniques have been proposed to analyze the stability of the closed-loop system, as well as to guarantee a required performance. As mentioned in [1], some outstanding control approaches have been considered to operate in the presence of faults, maintaining desirable properties of stability and performance. For the case of nonlinear systems, some results are available in [6] For these systems, the fault is represented as an exogenous input or deviation in the dynamic response from the expected value.
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