Sliding Mode Fault Tolerant Control Research Articles

Adaptive Sliding Mode Fault Tolerant Control for Autonomous Vehicle With Unknown Actuator Parameters and Saturated Tire Force Based on the Center of Percussion

Adaptive Sliding Mode Fault Tolerant Control for Autonomous Vehicle With Unknown Actuator Parameters and Saturated Tire Force Based on the Center of Percussion

Anti-disturbance control for HVs system subject to nonlinear actuator characteristics with extended state observer

This paper proposes a radial basis function neural network and the actuator fault extended state observer based fast non-terminal sliding mode fault-tolerant control scheme for hypersonic vehicles (HVs) system. The proposed scheme can cope with actuator faults, actuator saturation, parameter uncertainties, and external disturbances for HVs systems, without relying on redundancy as some passive FTC methods do. Moreover, an anti-windup compensator is designed to mitigate the input saturation effects. Furthermore, the finite-time stability of the attitude angle of the HVs system is proved by Lyapunov's theorem. Numerical simulations validate the effectiveness of the proposed scheme.

Active fault tolerant control based on compound iterative learning observer for trajectory tracking of autonomous underwater vehicles

This article proposes a novel active non-singular integral terminal sliding mode fault tolerant control scheme based on compound iterative learning observer (CILO-NITSM-FTC) for the trajectory tracking control problems of autonomous underwater vehicles (AUVs), which accompanied by nonlinear dynamics and possible thruster failures. The designed compound iterative learning observer (CILO) can effectively estimate the values of nonlinear dynamics and reconstruct the faults of the thrusters. Compared to the existing adaptive non-singular integral terminal sliding mode-based fault tolerant control (ANITSM-FTC), which is a passive fault tolerant control method essentially, the mentioned CILO-NITSM-FTC in this paper presents faster rate of convergence and more accurate control precision. In the design process of CILO, radial basis function neural network (RBFNN) is adopted to estimate the nonlinear dynamics, then approximation errors of neural network, thruster faults and external disturbances are considered as global disturbances. The estimated values obtained from CILO can be used to perform feedforward compensation on the designed controller to complete the reconstruction of thruster faults. Through rigorous mathematical proof and comparative numerical simulation experiments, the superiority and practicability of CILO-NITSM-FTC proposed in this paper are verified.

Operational control for the evolution of enthalpy in an SBR carrying out nitration of 4-chlorobenzotrifluoride and the thermal runway

BackgroundSemi Batch Reactors (SBR) are mostly used to carry out exothermic reactions (synthesis of 4-Chloro-3-Nitrobenzene-tri-fluoride) where a huge amount of heat is evolved. The excess enthalpy generated is removed by the cooling system which encloses the reactor. SBRs are subjected to several uncertainties, external and internal disturbances, and various other faults that occur during the processing of reactants. In the absence of a cooling system, the product starts to decompose yielding gaseous components which raise reactor temperature and pressure, finally leading to thermal runaway. From model-based effective prognosis, it was found that the reaction is very much sensitive to parameters like Damkoler number, activation energy, and the reaction-enthalpy-coefficient. MethodIn order to avoid hazardous situations, a suitable controller must be designed. In this work, a Fault Tolerant Sliding Mode Controller is found to be a promising tool to confront parametric uncertainties, disturbances, and faults. A Fault Tolerant Sliding Mode Observer is designed to observe the unmeasured disturbance and parameters. FindingsNitration of 4-Chlorobenzotrifluoride exhibits both interphase and intraphase mass-transfer phenomenon. The proposed control strategy was demonstrated on the SBR process and compared with the conventional control scheme to check feasibility and effectiveness like cooling rate, computation time, root mean square error, and mean square deviation. To guarantee convergence of the newly developed estimator and stability of the closed-loop controller, Lyapunov criteria are well investigated.

Adaptive Terminal Sliding Mode Fault-Tolerant Control of Spacecraft Based on the Left Attitude Error Function of SO(3)

For the problem of spacecraft attitude actuator failure, an adaptive terminal sliding mode fault-tolerant controller (ATSMFTC) based on the differential manifold SO(3) modelling is designed in this paper. First, SO(3) is used to provide a global and unique description of the spacecraft attitude dynamic model. This modelling method not only avoids the problems of singularity and unwinding that exist in traditional modelling methods but also the SO(3) modelling has a simple formulation of the dynamic equations. Then a left attitude error descriptor function is constructed on SO(3) to design an ATSMFTC. This controller is capable of fast and accurate tracking of the time-varying desired attitude. At the same time, it can react quickly to maintain system stability in case of spacecraft attitude actuator failure. The controller designed based on the left attitude error description system of SO(3) has the features of small computational effort and simple design process. Finally, the numerical simulation of the attitude tracking error verifies the feasibility and high efficiency of the controller designed in this paper.

Finite-time Sliding Mode Fault-tolerant Control for Networked Control Systems With Intermittent Fault Under Event-triggered Scheme

Finite-time Sliding Mode Fault-tolerant Control for Networked Control Systems With Intermittent Fault Under Event-triggered Scheme

Observer‐based sliding mode fault tolerant control for nonlinear descriptor systems

AbstractIn this article, the design and analysis of fault tolerant control (FTC) are investigated for stochastic nonlinear descriptor systems by using the sliding mode approach. First, an integral sliding mode‐based descriptor observer (ISM‐DO) is constructed to estimate the state and fault. The proposed ISM‐DO retains the basic characteristics of descriptor systems, meanwhile, it is not only suitable for dual normalized descriptor systems, but also for non‐dual normalized descriptor systems. It is more universal than the existing sliding mode fault tolerant control (SMFTC) methods. In the sequel, a novel restricted equivalent form based algorithm is developed to solve the sliding parameters. The proposed method provides a general algorithm, and it does not impose additional rank constraints. Further, a new adaptive sliding mode fault tolerant controller is constructed to stabilize the fault system, the assumption related to the diffusion matrix is removed. Based on these ingredients, the asymptotically mean square admissibility of the closed‐loop fault system and the observer gain matrix are got by a sufficient linear matrix inequality condition. The effectiveness of the proposed method is verified by simulations.

Study on Adaptive Sliding Mode Fault-tolerant Control of 1/4 Vehicle Electromagnetic Suspension

An adaptive sliding mode fault-tolerant manage approach is proposed to remedy the trouble of actuator acquire failure of the electromagnetic hybrid energetic suspension device and the hassle of automobile manipulate balance degradation induced by using the nonlinear pressure of spring and damper. The failure thing is chosen to symbolize the actuator fault size, and the actuator fault parameter mannequin is established. Combining sliding mode manipulate with adaptive control, an adaptive sliding mode fault-tolerant controller for lively suspension primarily based on an correct mannequin is designed. Based on the Lyapunov balance theory, the steadiness of the machine is proved; and the Gravity search algorithm (GSA) and linear matrix inequality (LMIS) are used to optimize the sliding floor parameters, and the most beneficial answer is chosen in accordance to the health function. The simulation effects exhibit that in contrast with passive suspension, the root capability rectangular values of sprung mass acceleration, suspension dynamic deflection, and tire dynamic load underneath adaptive sliding mode fault-tolerant manipulate approach decrease by way of 41.7%, 38.4%, and 36.5% respectively. It suggests that the designed adaptive sliding mode fault-tolerant controller is right and can enhance car experience comfort.

Fault-Tolerant Consensus Control for Discrete-Time Multi-Agent Systems: A Distributed Adaptive Sliding-Mode Scheme

In this brief paper, a fully distributed sliding mode controller with fault compensation is designed to deal with the consensus problem of discrete-time first-order multi-agent systems with actuator faults. A novel fully distributed integral sliding surface (ISS) without global information is proposed to guarantee consensus when agents move on the sliding surface. Based on such a sliding manifold combined with identified faults, a fully distributed sliding mode fault-tolerant controller is constructed, while a sufficient condition is derived to guarantee the finite-time reachability of the distributed ISS. Finally, simulation results verify the effectiveness of the proposed control algorithm.

Disturbance observer-based fuzzy fault-tolerant control for high-speed trains with multiple disturbances

Abstract The fault-tolerant control problem is investigated for high-speed trains with actuator faults and multiple disturbances in this paper. Based on the novel train model resulting from Takagi and Sugeno fuzzy theory, a sliding-mode fault-tolerant control strategy is proposed. The norm bounded disturbances which are composed of interactive forces among adjacent carriages and basis running resistances are rearranged by the fuzzy linearity technique. The modeled disturbances described as an exogenous system are compensated by a disturbance observer. Moreover, a sliding mode surface is constructed, which can transform the stabilization problem of position and velocity into the stabilization problem of position errors and velocity errors, i.e., the tracking problem of position and velocity. Based on the parallel distributed compensation method and the disturbance observer, the fault-tolerant controller is solved. Lyapunov theory is used to prove the stability of the closed-loop system. The feasibility and effectiveness of the proposed fault-tolerant control strategy are illustrated by simulation results.

Event-triggered fault-tolerant control for input-constrained nonlinear systems with mismatched disturbances via adaptive dynamic programming

In this paper, the issue of event-triggered optimal fault-tolerant control is investigated for input-constrained nonlinear systems with mismatched disturbances. To eliminate the effect of abrupt faults and ensure the optimal performance of general nonlinear dynamics, an adaptive dynamic programming (ADP) algorithm is employed to develop a sliding mode fault-tolerant control strategy. When the system trajectories converge to the sliding-mode surface, the equivalent sliding mode dynamics is transformed into a reformulated auxiliary system with a modified cost function. Then, a single critic neural network (NN) is adopted to solve the modified Hamilton–Jacobi–Bellman (HJB) equation. In order to overcome the difficulty that arises from the persistence of excitation (PE) condition, the experience replay technique is utilized to update the critic weights. In this study, a novel control method is proposed, which can effectively eliminate the effects of abrupt faults while achieving optimal control with the minimum cost under a single network architecture. Furthermore, the closed-loop nonlinear system is proved to be uniformly ultimate boundedness based on Lyapunov stability theory. Finally, three examples are presented to verify the validity of the control strategy.

Dynamic Surface Sliding Mode Fault-Tolerant Control for the Hydro-turbine Governing System with Input Delay

Dynamic Surface Sliding Mode Fault-Tolerant Control for the Hydro-turbine Governing System with Input Delay

Intelligent sliding mode fault-tolerant control of aviation propulsion motor system based on adaptive chaotic gray wolf optimization

In order to solve the problem of motor fault caused by extreme low temperature and vibration in the high altitude of aviation propulsion motor, using the intelligent sliding mode fault-tolerant control, a speed controller based on variable exponential power reaching law and an extended sliding mode disturbance observer is designed; furthermore, the parameters are optimized by the adaptive chaotic gray wolf optimization algorithm. In addition, a second-order nonsingular terminal sliding mode observer and a frequency adaptive complex coefficient filter are designed. First, variable exponential power reaching law is helpful to eliminate the speed tracking error and buffeting for the speed controller, the external disturbance can be estimated and compensated using the extended sliding mode disturbance observer, and adaptive chaotic gray wolf optimization algorithm can enhance the accuracy of parameters. Second, for the sake of making the aviation propulsion motor run smoothly in the case of speed sensor fault, second-order nonsingular terminal sliding mode observer is designed to estimate the speed and position of aviation propulsion motor, and adaptive complex coefficient filter is designed to improve the estimation accuracy. Finally, based on MATLAB/Simulink simulation and STM32 motor series experiments, the effectiveness of the proposed observer and controller algorithm is verified.

Fault-Tolerant Control for Carrier-Based UAV Based on Sliding Mode Method

To enable a carrier-based unmanned aerial vehicle (UAV) to track the desired glide trajectory and safely land on the deck with the presence of system faults, this paper proposes a neural network-based adaptive sliding mode fault-tolerant control (NASFTC) method. Firstly, the dynamic model of the carrier -based UAV, the actuator fault model, the additional unknown fault model, and the control framework of the automatic carrier landing system (ACLS) were developed. Subsequently, controllers for both longitudinal and lateral channels were designed by using the NASFTC method. The controller consists of three parts: the adaptive laws for compensating the actuator faults, the RBF neural network for compensating the additional unknown faults, and the sliding mode method for ensuring overall trajectory tracking. Then, the Lyapunov function theorem was applied to carry out the stability analysis. Finally, comparative simulations under three different scenarios were conducted. The comparative results show the effectiveness of the proposed NASFTC method, which has fault-tolerant ability and can successfully control the aircraft to execute carrier landing task regardless of the actuator partial loss fault and the additional unknown fault.

Improved robust reduced-order sliding mode fault-tolerant control for T-S fuzzy systems with disturbances

This work investigates the problem of robust sliding mode fault-tolerant control for Takagi-Sugeno (T-S) fuzzy systems with disturbances. By virtue of a nonlinear sliding variable with an exponential decaying term, a reduced-order fuzzy sliding motion is established for the system throughout the entire responses. Since the existence of unforeseen actuator faults and disturbances affects the transient performance of sliding variable, which leads to poor performance of sliding motion system. To mitigate the influences of faults and disturbances on the sliding motion system, a class of positive semi-definite barrier functions is introduced to design controller, which ensures the sliding variable within a prescribed upper bound independent to actuator faults and disturbances. Finally, through the Lyapunov direct method, some sufficient conditions are derived such that the closed-loop system is uniformly bounded with time-vary performance boundary. In simulation part, several examples are given to demonstrate the effectiveness of the theoretical results.

Quantized Sliding Mode Fault-Tolerant Control for Unmanned Marine Vehicles with Thruster Saturation

In this paper, the sliding mode technique is used to study the quantized fault-tolerant control of unmanned marine vehicles with thruster saturation. Firstly, the sliding mode surface is constructed according to the full rank decomposition of input matrix, and the stability of sliding mode is guaranteed by linear matrix inequalities. An improved dynamic adjustment scheme of quantization parameter is proposed. Compared with the original adjustment scheme, the relationship between quantization parameter and desired targets is increased, so that the adjustment range of quantization parameters is more comprehensive. The sliding mode controller is combined with quantization parameter adjustment strategy to ensure the asymptotic stability of unmanned marine vehicles system. In addition, compared with the existing research results of quantitative fault tolerance problem without considering saturation, this paper gives a result of the domain of attraction affected by the fault of the thruster. Finally, the superiority of the proposed method is verified by simulation comparison.

Disturbance observer-based performance guaranteed fault-tolerant control for multi-spacecraft formation reconfiguration with collision avoidance

In this study, the issue of the performance guaranteed fault-tolerant control for formation reconfiguration with collision avoidance in the multi-spacecraft system subjects to space perturbations and thruster faults is investigated. A new nonlinear iterative learning disturbance observer is constructed to accurately reconstruct the synthesized disturbance no matter it is time-varying or not. Then, an exponential artificial potential function with a simple structure and low computation requirement is designed to avoid collision between spacecrafts. A nonsingular terminal sliding mode fault-tolerant control method is explored to accomplish fault-tolerant formation reconfiguration with collision avoidance ability and prescribed robust performance. Finally, numerical simulations and comparisons are performed to validate the effectiveness and superiority of the proposed approaches.

Simultaneous Multiplicative and Additive Actuator Faults Estimation‐Based Sliding Mode FTC for a Class of Uncertain Nonlinear System

In this article, an adaptive sliding mode fault tolerant control (FTC) is improved in the case of uncertain nonlinear system which is affected by both multiplicative and additive faults in actuator. Especially, when the nonlinear system is modeled by Takagi–Sugeno (T‐S) fuzzy system with local nonlinear model. The main contribution of this paper is developing a model of multiplicative faults, which offers a more realistic dynamic evolution of the actuator degradation. The degradation process is modeled by Wiener process and estimated by the maximum likelihood estimation (MLE). Sliding mode observer (SMO) is conceived to realize the additive actuator faults using convex multiobjective optimization. On these bases, the estimated multiplicative and additive actuator faults are used to design the adaptive sliding mode controller (SMC). Finally, the proposed fault‐tolerant control scheme is demonstrated by the results of inverted pendulum system simulation.

Adaptive sliding mode fault-tolerant attitude control for flexible satellites based on T-S fuzzy disturbance modeling.

This paper investigates the fault tolerance problem of flexible satellites subject to actuator faults and multiple disturbances. An adaptive sliding mode fault tolerant control (ASMFTC) approach based on Takagi-Sugeno (T-S) fuzzy disturbance observer (TSFDO) is presented for attitude control system (ACS) under loss of actuator effectiveness, environmental disturbance torque and elastic modal generated by flexible appendages. Compared with the traditional disturbance observer based control (DOBC) methods, the T-S fuzzy technology is applied to estimate the unknown nonlinear elastic modal. Then, the energy bounded disturbance is eliminated by designing an adaptive sliding mode controller. The proposed ASMFTC design can guarantee the sliding surface to approach zero. Finally, the effectiveness of the control method proposed in this paper is further verified by comparative simulation.

Design of sliding mode fault‐tolerant control for Markovian jump systems with probabilistic delay: A discrete partitioning strategy

AbstractIn this article, the finite‐time sliding mode control (SMC) issue is discussed for stochastic Markovian jump discrete systems (MJDSs) subject to actuator failure, probabilistic delay, and external disturbance. The phenomenon of actuator failure is characterized by utilizing an effectiveness factor and a stuck fault function. Our aim is to propose a new finite‐time sliding mode fault‐tolerant control (SMFTC) strategy for the corresponding closed‐loop system. Additionally, based upon the discrete partitioning strategy, the desired sliding mode controller is provided to drive the system from an initial state into the neighborhood of the prescribed sliding surface. Finally, the simulation examples are given to illustrate the effectiveness of the control scheme obtained.