Kukurowski, Norbert ; Mrugalski, Marcin ; Pazera, Marcin ; Witczak, Marcin
Contributor:Witczak, Marcin - ed. ; Stetter, Ralf - ed.
Title:Fault-tolerant tracking control for a non-linear twin-rotor system under ellipsoidal bounding
Subtitle: Group publication title: Subject and Keywords:fault-tolerant control ; simultaneous faults ; external disturbances ; non-linear system ; robust fault estimation ; fault detection and diagnosis
Abstract:A novel fault-tolerant tracking control scheme based on an adaptive robust observer for non-linear systems is proposed. Additionally, it is presumed that the non-linear system may be faulty, i.e., affected by actuator and sensor faults along with the disturbances, simultaneously. Accordingly, the stability of the robust observer as well as the fault-tolerant tracking controller is achieved by using the H[infinity sign] approach. Furthermore, unknown actuator and sensor faults and states are bounded by the uncertainty intervals for estimation quality assessment as well as reliable fault diagnosis. ; This means that narrow intervals accompany better estimation quality. Thus, to cope with the above difficulty, it is assumed that the disturbances are over-bounded by an ellipsoid. Consequently, the performance and correctness of the proposed fault-tolerant tracking control scheme are verified by using a non-linear twin-rotor aerodynamical laboratory system.
Publisher:Zielona Góra: Uniwersytet Zielonogórski
Date: Resource Type: DOI: Pages: Source:AMCS, volume 32, number 2 (2022) ; click here to follow the link
Language: License CC BY 4.0: Rights: