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Flap actuation systems (FAS) have numerous operational states, modes and environmental constraints, which translate to thousands of requirements associated with them. FAS must be analyzed and tested to determine compliance with requirements in any operating conditions. In this paper, examples of parametrized requirements for centrally driven FAS are presented and the advantages brought by a requirement...
This paper deal with the problem of H∞ robust fault estimation for discrete time nonlinear system with a sector bounded nonlinear additive terms and multiple bounded state delay using the Takagi-Sugeno (T-S) fuzzy model. A fuzzy-fault estimation observer (FFEO) design is proposed to achieve fault estimation of T-S state delay models using fuzzy Lyapunov functions (FLF) with actuator and sensor faults...
This paper investigates the problem of network-based fault-tolerant controller design for networked control systems (NCSs) in the presence of random delays and data packet dropouts. A novel actuator fault model which is more general and practical than the conventional actuator fault models is developed. Considering this new fault model, the NCSs are firstly modeled as a Markovian jump system (MJS)...
A fault-alarm based hybrid controller design approach for Markovian jump system with actuator fault is investigated in this paper. By using linear matrix inequality (LMI) technology, both robust and reliable controllers are presented, which ensure that the normal systems and the fault systems are robustly stable. Then, in order to reduce the conservativeness of reliable controller design algorithm,...
This paper proposed a novel sensor based backstepping control mthod for hypersonic vehicle with actuator compensator. The novel sensor based backstepping control method will apply the so-called “approximate dynamic inversion” to design the virtual control law for each subsystem, not just for the last subsystem. Compared with the traditional method, it does not need all of the precise aerodynamic parameters...
This paper presents the practical implementation of a new robust third order sliding mode controller for an electropneumatic actuator with a predefined convergence time. The controller robustness is discussed with respect to external disturbances. Implementation results on an electropneumatic actuator setup show the effectiveness of the controller.
The paper is devoted to the problem of a Takagi-Sugeno(TS)-based robust simultaneous actuator and sensor faults estimator design for the purpose of the Fault Diagnosis (FD) of non-linear systems. The proposed methodology of designing a TS-based H∞ fault estimator is developed in this paper. The main novelty of the approach is associated with possibly of simultaneous sensor and actuator faults estimation...
The paper addresses a problem of quadrotor unmanned aerial vehicle (so-called X4-flyer or quadrocopter) utility model identification for control design purposes. To that goal the quadrotor model is assumed to be composed of two abstracted subsystems, namely a rigid body (plant) and four motors equipped with blades (actuators). The model of the former is acquired based on a well-established dynamic...
A fault tolerant control approach is proposed in this paper for quadrotor Unmanned Aerial Vehicle (UAV) subject to time varying disturbances and actuator faults. The approach is based on a Super-Twisting (STW) control algorithm and a Higher Order Sliding Mode Observer (HOSMO). The HOSMO generates the exact estimates of the unmeasured states and time varying disturbances without any filtration that...
This paper investigates the stabilization problem for a class of nonlinear time-delay Hamiltonian systems with actuator saturation and input delay, and proposes delay-independent and delay-dependent results on the systems by applying Lyapunov-Krasovskii (L-K) functional method. Different from existing methods, we construct a suitable L-K functional to overcome the input delay problems, obtain some...
The lateral guidance objective is to derive the cross track error towards zero with graceful and stable maneuvers and then to keep it as minimum as possible. A nonlinear sliding surface based lateral guidance scheme is proposed here for Unmanned Aerial Vehicles (UAVs) application with limited actuation. Following the inner (control) and outer (guidance) loop structure, the proposed guidance scheme...
Attitude control is essential for spacecraft to accomplish various tasks, and the attitude tracking is one of the most important attitude control tasks. In this paper the attitude tracking of a rigid spacecraft with bounded input is examined. At the same time, the unknown external disturbances are finite, but their boundaries are unknown. In order to make sure the attitude tracking errors converge...
Network-based control system has been an emerging technology in the control and communication fields in recent years. Modulation is a key step to achieve bandpass transmission, especially for the wireless networks. Modulation, an important component in network-based control system, has the detrimental effect on the system performance in some context. In the paper, first, it is shown that the modulation...
This paper provides a comparative study of three Sliding Mode Control (SMC)-based fault tolerant controllers for trajectory tracking of a quadrotor UAV subject to actuator faults. Conventional SMC, Integral (ISMC) and Integral Terminal SMC (ITSMC) designs are designed and implemented to a quadrator UAV. The controllers' performance along with their respective robustness was assessed using various...
The paper deals with the design of a robust predictive fault-tolerant control for linear discrete-time systems with an application of the quadratic boundedness theory and an associated robust invariant set. The main problem is to maintain the state of the system inside the robust invariant set obtained under asymmetric input and state constraints. The proposed strategy relies on a three-stage procedure,...
This paper presents the development of a bilinear system model and the application of a bilinear fault detection observer to a papermaking machine to detect various simulated faults. First a suitable MIMO bilinear model representation of the wet end section of the process is found. Then, a set of robust bilinear fault detection observer is used to generate the residuals which are robust to disturbance...
An external disturbances rejection algorithm for flat multi-link manipulator is proposed. Tracking problem is considered as it is generalization of stabilization and regulation problems. Joint coordinates state space is used to simplify mathematical calculations. Electric drives are chosen as joint actuators and their equations are involved into model of the plant. External disturbances and their...
The paper proposes an adaptive gain back-stepping sliding mode control (AGBSMC) for tracking position of the electro-hydraulic servo system (EHSs). In the EHSs, there always exist uncertainties and nonlinearities such as friction, leakages, oil temperature which are challenges for the control design. The proposed control includes two sliding mode control. One controls the tracking position in the...
This paper provides a rigorous steps for controller design of a novel ducted fan vehicle under actuator uncertainties and saturation. Considering uncertain actuator dynamics, a control-oriented model is proposed to provide convenience for practical control applications. A structured robust controller that stabilizes the vehicle in the presence of actuator uncertainties and external disturbances is...
A robust disturbance rejection guidance law for autonomous rendezvous with non-cooperative target is studied using generalized super-twisting algorithm (GSTA) and homogeneous high order sliding mode observer (HHOSMO). The proposed method is able to ensure a service spacecraft subject to modeling uncertainties, external disturbances and actuator/thruster failures accomplishes the rendezvous mission...
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