Fault-tolerant Scheme Research Articles

Adaptive neural fault-tolerant prescribed performance control of a rehabilitation exoskeleton for lower limb passive training

This article studies the passive tracking problem of a wearable exoskeleton for lower limb rehabilitation therapy in the face of unmodeled dynamics, interactive friction, disturbance, prescribed performance constraints, and actuator faults. Adaptive neural networks and a smooth performance function are incorporated to establish a novel fault-tolerant tracking scheme, which can not only compensate for the nonlinear uncertainties and disturbance, but also handle the actuator fault with guaranteed tracking performance. A state feedback controller is presented by using the full state information and an output feedback controller is developed when the angular velocity is unavailable. The differential explosion issue of the backstepping technique is resolved by constructing a first-order filter and the unmeasurable velocity is estimated by a nonlinear observer. Semiglobal uniform boundedness stabilities of the exoskeleton system are proved via the Lyapunov direct method. The tracking performances of the designed control approaches are tested by comparative simulations.

Auto-berthing Control for MSVs with a Time-based Generator under Actuator Faults: A Concise Neural Single-Parameter Approach

Abstract In this paper, we study the control problem of auto-berthing marine surface vessels (MSVs) within a predefined, finite time in the restricted waters of a port, in the face of internal and external uncertain dynamics and actuator faults. We first use radial basis function neural networks to reconstruct the internal uncertainties of the system; then, using the minimum learning parameter method, we transform the weights of the neural networks, the external disturbances of the system, and the bias fault factors into an indirect single-parameter neural learning mode. We also apply a robust depth information adaptation technique to estimate the upper bound on the composite disturbances online. Dynamic surface control technology alleviates the burden of virtual control derivative calculations. Finite-time convergence of the system is guaranteed by a predetermined finite-time function based on a time-based generator (TBG). Based on these methods, we design a finite-time fault-tolerant auto-berthing control scheme based on TBG. The stability of the system is analysed based on Lyapunov stability theory. Finally, we verify the effectiveness of the proposed control scheme through simulation.

Partial Syndrome Measurement for Hypergraph Product Codes

Hypergraph product codes are a promising avenue to achieving fault-tolerant quantum computation with constant overhead. When embedding these and other constant-rate qLDPC codes into 2D, a significant number of nonlocal connections are required, posing difficulties for some quantum computing architectures. In this work, we introduce a fault-tolerance scheme that aims to alleviate the effects of implementing this nonlocality by measuring generators acting on spatially distant qubits less frequently than those which do not. We investigate the performance of a simplified version of this scheme, where the measured generators are randomly selected. When applied to hypergraph product codes and a modified small-set-flip decoding algorithm, we prove that for a sufficiently high percentage of generators being measured, a threshold still exists. We also find numerical evidence that the logical error rate is exponentially suppressed even when a large constant fraction of generators are not measured.

Integral terminal sliding mode fault tolerant control of quadcopter UAV systems

The article presents an active fault-tolerant control scheme with an integral terminal sliding mode controller for the UAV systems. This scheme effectively addresses saturation issues, disturbances, and sensor and actuator faults. Initially, the quadcopter UAV's model is represented in state space form. Subsequently, an augmented system incorporating auxiliary states from sensor faults is developed. An adaptive sliding mode observer is proposed for estimating the actuator and sensor faults. The integral terminal sliding mode fault-tolerant control, designed for altitude and attitude regulation, relies on fault estimation data. In contrast, a cascade proportional-integral-derivative (PID) controller is employed for position control. Simulation results demonstrate the superiority of the proposed method over existing control algorithms.

Robust Fixed-Time Fault-Tolerant Control for USV with Prescribed Tracking Performance

The unmanned surface vessel (USV) is an emerging marine tool with its advantages of automation and intelligence in recent years; the good trajectory tracking performance is an important capability. This paper proposes a novel prescribed performance fixed-time fault-tolerant control scheme for an USV with model parameter uncertainties, unknown external disturbances, and actuator faults, based on an improved fixed-time disturbances observer. Firstly, the proposed observer can not only accurately and quickly estimate and compensate the lumped nonlinearity, including actuator faults, but also reduce the chattering phenomenon by introducing the hyperbolic tangent function. Then, under the framework of prescribed performance control, a prescribed performance fault-tolerant controller is designed based on a nonsingular fixed-time sliding mode surface, which guarantees the transient and steady-state performance of an USV under actuator faults and meets the prescribed tracking performance requirements. In addition, it is proved that the closed-loop control system has fixed-time stability according to Lyapunov’s theory. Finally, upon conducting numerical simulations and comparing the proposed control scheme with the SMC and the finite-time NFTSMC scheme, it is evident that the absolute error tracking performance index of the proposed control scheme is significantly lower, thus indicating its superior accuracy.

Multiple model fault diagnosis and fault tolerant control for the launch vehicle’s attitude control system

Abstract For the launch vehicle attitude control problem, traditional methods can seldom accurately identify the fault types, making the control method lack of pertinence, which largely affects the effect of attitude control. This paper proposes an active fault tolerant control strategy, which mainly includes fault diagnosis and fault tolerant control. In the fault diagnosis part, a small deviation attitude dynamics model of the launch vehicle is established, Kalman filters with different structures are designed to detect and isolate faults through residual changes, and the fault quantity of the actuator is further estimated. In the fault tolerant control part, the following control scheme is adopted according to the above diagnostic information: when the sensor fault is detected, the sensor measurement data is reconstructed; when the actuator fault is identified, the control allocation matrix is reconstructed. Simulation results show that the proposed method can effectively diagnose sensor fault and actuator faults, and significantly improve attitude tracking accuracy and control adjustment time.

Prescribed-time fault-tolerant tracking control for Markov jump nonlinear systems based on saturation dynamics filters

This paper investigates the problem of prescribed-time fault-tolerant tracking control for a class of Markov jump nonlinear systems affected by actuator faults and input saturation. First, a new time-varying constraint function and an error transformation are invoked to transform the original prescribed-time tracking control problem into a tracking control problem with deferred constraint for tracking error. Furthermore, the parameter correction terms are designed, on which a novel Markov jump saturation dynamic filter is constructed to handle the unfavorable effect of input saturation. Meanwhile, the projection operator technique and the norm estimation methodology are integrated to devise adaptive laws to estimate the unknown actuator faults evolving in accordance with the Markov chain. A new prescribed-time fault-tolerant tracking control scheme is put forward that realizes the deferred constraint on the tracking error, which in turn ensures that the tracking error of the system converges to a prescribed accuracy within a prescribed-time. Finally, two simulation examples, one of which implements a prescribed-time fault-tolerant tracking control for rotary steerable drilling tool system, are presented to illustrate the effectiveness and practicality of the developed scheme.

A Simple Online Fault Location and Tolerant Control Strategy for Power Electronic Transformers With a Single IGBT Open-Circuit Fault

A Simple Online Fault Location and Tolerant Control Strategy for Power Electronic Transformers With a Single IGBT Open-Circuit Fault

Neural-Network-Based Adaptive Fault-Tolerant Cooperative Control of Heterogeneous Multiagent Systems With Multiple Faults and DoS Attacks.

In this article, the issue of adaptive fault-tolerant cooperative control is addressed for heterogeneous multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with actuator faults and sensor faults under denial-of-service (DoS) attacks. First, a unified control model with actuator faults and sensor faults is developed based on the dynamic models of the UAVs and UGVs. To handle the difficulty introduced by the nonlinear term, a neural-network-based switching-type observer is established to obtain the unmeasured state variables when DoS attacks are active. Then, the fault-tolerant cooperative control scheme is presented by utilizing an adaptive backstepping control algorithm under DoS attacks. According to Lyapunov stability theory and improved average dwell time method by integrating the duration and frequency characteristics of DoS attacks, the stability of the closed-loop system is proved. In addition, all vehicles can track their individual references, while the synchronized tracking errors among vehicles are uniformly ultimately bounded. Finally, simulation studies are given to demonstrate the effectiveness of the proposed method.

Distributed predefined-time estimator-based affine formation target-enclosing maneuver control for cooperative underactuated quadrotor UAVs with fault-tolerant capabilities

The paper presents a two-layer, disturbance-resistant, and fault-tolerant affine formation maneuver control scheme that accomplishes the surrounding of a dynamic target with multiple underactuated Quadrotor Unmanned Aerial Vehicles (QUAVs). This scheme mainly consists of predefined-time estimators and fixed-time tracking controllers, with a hybrid Laplacian matrix describing the communication among these QUAVs. At the first layer, we devise predefined time estimators for leading and following QUAVs, enabling accurate estimation of desired information. In the second layer, we initially devise a fixed-time hybrid observer to estimate unknown disturbances and actuator faults. Fixed-time translational tracking controllers are then proposed, and the intermediary control input from these controllers is used to extract the desired attitude and angular velocities for the fixed-time rotational tracking controllers. We employ an exact tracking differentiator to handle variables that are challenging to differentiate directly. The paper includes a demonstration of the control system stability through mathematical proof, as well as the presentation of simulation results and comparative simulations.

DFIG in Wind Energy Applications with High Order Sliding Mode Observer-based Fault-Tolerant Control Scheme using Sea Gull Optimization

This paper describes a new method for maximizing power extraction from a wind energy conversion system (WECS) by using a doubly fed induction generator (DFIG) that operates below nominal wind speed. To maximize the collected power of a wind turbine (WTG) exposed to actuator failure, a fault-tolerant high-order sliding mode observer (HOSMO) and Seagull Optimization Algorithm with a model predictive controller (MPC) technique is proposed. Evaluate both the real state and the sensor error simultaneously using a higher-order sliding-mode observer. Active fault tolerant controllers are designed to regulate wind turbine rotor speed and power in the presence of actuator defects and uncertainty. With the growing interest in employing wind turbines (WTGs) as the primary generators of electrical energy, fault tolerance has been seen as essential to improving efficiency and reliability. This research focuses on optimal fault-tolerant pitch control, which is used to modify the pitch angle of wind turbine blades in the event of sensor, actuator, and system failures. A Seagull Optimization Algorithm (SOA) is proposed to tune controller parameters to improve the performance of WT. The proposed method has achieved 92% of power tracking performance when compared to existing method.

SF-CABD: Secure Byzantine fault tolerance federated learning on Non-IID data

Federated learning facilitates collaborative learning among multiple parties while ensuring client privacy. The vulnerability of federated learning to diverse Byzantine attacks stems from the opacity inherent in its local training processes. This issue becomes more pronounced when data among clients lacks independent and identical distribution. Concurrently, the advent of gradient inversion attacks introduces an escalating risk to the confidentiality and integrity of the federated learning system. This work introduces a framework to tackle the difficulties associated with Non-IID data within federated learning. Initially, it classifies diverse data using Euclidean distance to alleviate intra-cluster heterogeneity. A privacy-preserving Byzantine fault tolerance strategy utilizing cosine similarity is implemented within each cluster. We adopt normalizing and introduce historical momentum to the inter-cluster aggregation. The integration of homomorphic encryption ensures that clients’ gradient information participates in training under ciphertext, safeguarding against gradient inversion attacks. Lastly, we conduct a comparative analysis against classical and latest algorithms under various conditions. These results validate the effectiveness of our design in enhancing robustness in Non-IID data.

An Enhanced Mechanism for Fault Tolerance in Agricultural Wireless Sensor Networks

Fault tolerance is a critical aspect for any wireless sensor network (WSN), which can be defined in plain terms as the quality of being dependable or performing consistently well. In other words, it may be described as the effectiveness of fault tolerance in the event of crucial component failures in the network. As a WSN is composed of sensors with constrained energy resources, network disconnections and faults may occur because of a power failure or exhaustion of the battery. When such a network is used for precision agriculture, which needs periodic and timely readings from the agricultural field, necessary measures are needed to handle the effects of such faults in the network. As climate change is affecting many parts of the globe, WSN-based precision agriculture could provide timely and early warnings to the farmers about unpredictable weather events and they could take the necessary measures to save their crops or to lessen the potential damage. Considering this as a critical application area, in this paper, we propose a fault-tolerant scheme for WSNs deployed for precision agriculture. Along with the description of our mechanism, we provide a theoretical operational model, simulation, analysis, and a formal verification using the UPPAAL model checker.

An Optimized Data Storage in A Secure Cloud-Edge Collaboration A Fault Tolerance Approach

The rise of edge smart IoT devices has led to the development of edge storage systems (ESS) for efficient access to massive edge data. ESS can reduce the load on cloud centers and improve user experience. However, ESS still faces challenges in improving fault tolerance and efficiency. Thus, there is a need for a secure and efficient fault-tolerant storage scheme. Existing schemes have drawbacks like high edge storage overhead, difficulty in protecting edge data privacy, and low data writing performance. To address these issues, we propose a Hierarchical Cloud-Edge Collaborative Fault-Tolerant Storage (HCEFT) model. This model aims to enhance system robustness, reduce edge storage overhead, and ensure edge data privacy. We also introduce an optimization method for data writing in HCEFT, called ECWSS (Erasure Code data Writing method based on Steiner tree and SDN). This method improves the trade-off between data writing time and traffic consumption. Our scheme improves data robustness, availability, and security. Additionally, the writing optimization method reduces data write time by 13%-67% and network traffic consumption by 20%-62%, enhancing network load balance performance.

Integrated sensor FTC using integral sliding mode control

In this paper, a sliding mode sensor fault tolerant control scheme which involves a first order sliding mode observer, fault compensation logic and an integral sliding mode controller, is proposed for a class of uncertain linear parameter-varying systems. The proposed scheme has the capability to retain near nominal fault-free performance in the face of a class of sensor faults/failures. In particular, the closed-loop stability of the sensor fault tolerant scheme involving the sliding mode observer and the sliding mode controller in the presence of faults and uncertainty, is rigorously analysed. Furthermore, the paper proposes an algorithm to simultaneously synthesize the design freedom associated with the observer gains and control law despite the lack of a separation principle in the closed loop system overall caused by the uncertainty. The proposed scheme is validated using a commercial aircraft model. Good simulation results show the efficacy of the scheme.

A unified SVPWM fault tolerant control algorithm for single leg fault reconstruction topology of two-level inverter

To improve the reliability of Two-level three phase voltage source inverters, a uniform fault tolerant strategy based on space vector pulse width modulation is proposed for different leg faults. The reconstructed topologies of inverters with different bridge arm faults are different, which makes the basic voltage vector phase of each reconstructed topology inconsistent, resulting in different calculations. Therefore, the coordinate transformation is applied to place the basic voltage vectors of each reconstructed topology on the synchronous stationary αβ coordinate system so that the calculations of the reconstructed topology under different bridge arm faults are unified, thus reducing the complexity of fault-tolerant control. Aiming at the three-phase current asymmetry caused by the neutral point voltage oscillation in inverter topology reconstruction, a transient compensation method of neutral point voltage offset for the α-axis component of the reference voltage vector is introduced to suppress the adverse effects. The compensation method directly offers a neutral point voltage offset value after Clarke transformation and corrects the α-axis component of the reference voltage vector, avoiding the integral calculation in the conventional voltage compensation algorithm. The correctness and effectiveness of the proposed fault-tolerant control strategy are verified experimentally.

Bilateral fault-tolerant qudit teleportation in multi-hop quantum networks

In this paper, we present one general fault-tolerant multi-hop teleportation scheme for arbitrary unknown qudit system, exploring a strategy for distilling high-dimensional EPR pairs within the operational errors channel, where the introduced auxiliary pairs don’t have to be in high-fidelity. These errors can be detectable and traceable in quantum networks, promising that the accumulation of the operational errors can be rectified by the final receiver during the teleportation, avoiding the error correction implemented by the intermediate nodes. Moreover, we extend the strategy to the non-maximally entangled EPR channels. In the end, we discuss the potential strategy to improve our scheme including eliminating the encoding step for the error correction codes. Even through the operational errors may occur at the repeater nodes, the performance analysis demonstrates that the scheme significantly preserves the valuable entangled resources and reduces the operational complexity, illustrating the robustness to against the operational errors in repeater nodes.

Reliability improvement of the dredging perception system: A sensor fault-tolerant strategy

In the dredging industry, the automation and accuracy of the Dredging Perception System (DPS) are vital for operational efficiency and environmental safety. Current DPS implementations face challenges with sensor fault tolerance, leading to system unreliability and increased false alarm rates that can disrupt dredging operations. We propose a Hybrid Redundancy Sensor Fault Tolerance (HRSFT) strategy that integrates matching physical sensors (PS) with two distinct types of virtual sensors (VS) driven by multi-sensor association and time-series prediction models. The HRSFT employs a voting-cold storage strategy to address the false alarm issues commonly associated with single virtual sensor systems. Through experimental validation, the HRSFT strategy has demonstrated its capability to provide accurate replacement information during both single and multi-sensor failure scenarios, effectively managing abnormal sensor data and enhancing the operational reliability of the DPS. The implementation of the HRSFT strategy significantly improves the accuracy and stability of the DPS, suggesting a substantial advancement in sensor fault tolerance that could be applied to similar systems in various industries, leading to safer and more reliable operations.

Fault-tolerant control of automatic carrier landing using direct lift control based on nonsingular terminal sliding mode and active disturbance rejection control

This paper presents a fault-tolerant control scheme, combining nonsingular terminal sliding mode and active disturbance rejection control (NTSM-ADRC) to address actuator failure and external disturbances during the automatic carrier landing process of a carrier-based aircraft using direct lift control (DLC). First, the carrier-based aircraft model, the carrier air-wake model, and the actuator fault model were established. Second, the NTSM-ADRC controller is designed, The unmodeled dynamics of the system, the air-wake disturbance, and the fault term are treated as total disturbances and estimated accurately by extended state observer (ESO). To improve the response characteristics of the controller, the nonlinear error feedback control law is designed by combining the NTSMC. The Lyapunov function is constructed to prove the stability of the closed-loop system. The controller is applied to the aircraft DLC channel, attitude auxiliary channel, and approach power compensation system. The DLC improves the performance of fixed-wing aircraft by directly generating high lift through the flaps to change the aircraft trajectory. Finally, the method is tested by introducing various types of actuator failures. Simulation results demonstrate that the designed longitudinal fault-tolerant carrier landing system exhibits strong robustness and fault tolerance, thereby improving the accuracy of aircraft landing trajectory tracking.

Neural network-based robust adaptive super-twisting sliding mode fault-tolerant control for a class of tilt tri-rotor UAVs with unmodeled dynamics

Abstract Aiming at alleviating the adverse influence of coupling unmodeled dynamics, actuator faults and external disturbances in the attitude tracking control system of tilt tri-rotor unmanned aerial vehicle (UAVs), a neural network (NN)-based robust adaptive super-twisting sliding mode fault-tolerant control scheme is designed in this paper. Firstly, in order to suppress the unmodeled dynamics coupled with the system states, a dynamic auxiliary signal, exponentially input-to-state practically stability and some special mathematical tools are used. Secondly, benefiting from adaptive control and super-twisting sliding mode control (STSMC), the influence of the unexpected chattering phenomenon of sliding mode control (SMC) and the unknown system parameters can be handled well. Moreover, NNs are employed to estimate and compensate some unknown nonlinear terms decomposed from the system model. Based on a decomposed quadratic Lyapunov function, both the bounded convergence of all signals of the closed-loop system and the stability of the system are proved. Numerical simulations are conducted to demonstrate the effectiveness of the proposed control method for the tilt tri-rotor UAVs.