Robust Adaptive Sliding Mode Fault Tolerant Control for Nonlinear System with Actuator Fault and External Disturbance
| Autor: | Rong Zhou, Liang Zheng, Xuelian Dong, Xinping Yang, Qian Luo, Menglan Zeng |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Article Subject Observer (quantum physics) Computer science lcsh:Mathematics General Mathematics 020208 electrical & electronic engineering General Engineering Fault tolerance 02 engineering and technology lcsh:QA1-939 Actuator fault Nonlinear system 020901 industrial engineering & automation lcsh:TA1-2040 Control theory Robustness (computer science) 0202 electrical engineering electronic engineering information engineering lcsh:Engineering (General). Civil engineering (General) |
| Zdroj: | Mathematical Problems in Engineering, Vol 2019 (2019) |
| ISSN: | 1563-5147 1024-123X |
| Popis: | In this paper, an adaptive sliding mode fault tolerant control (ASMFTC) approach is proposed for a class of nonlinear systems with actuator fault, uncertainty, and external disturbance. Specifically, first, a novel observer is proposed to estimate the state, actuator fault, and external disturbance. Then, by utilising the observed information, a novel output sliding mode observer is constructed. In the control method, an adaptive law and two compensators are designed to attenuate the unknown estimation errors, actuator fault, and disturbance. Furthermore, the reaching ability of the sliding motion is analysed and the H-infinite performance is introduced to ensure the robustness of the system. Finally, a flexible single joint manipulator system and a two-cart system are used to verify the effectiveness of the proposed method. |
| Databáze: | OpenAIRE |
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