An adaptive sliding mode differentiator for actuator oscillatory failure case reconstruction |
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| Authors: | Halim Alwi Christopher Edwards |
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| Affiliation: | 1. Control Systems Research, Department of Engineering, University of Leicester, University Road, Leicester LE1 7RH, UK;2. College of Engineering, Mathematics and Physical Sciences, University of Exeter, EX4 4QF, UK;1. Department of Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China;2. School of Electrical and Computer Engineering, RMIT University, Melbourne, VIC 3001, Australia;3. School of Computer Science and IT, RMIT University, Melbourne, VIC 3001, Australia;1. Unmanned System Research Institute, Northwestern Polytechnical University, Xi''an 710072, People''s Republic of China;2. School of Electronic and Information Engineering, Xi''an Jiaotong University, Xi''an, 710049, People''s Republic of China;3. China Academy of Launch Vehicle Technology, Beijing 100076, People''s Republic of China;1. Unidad Académica Juriquilla, Instituto de Ingeniería, Universidad Nacional Autónoma de México, Blvd. Juriquilla 3001, 76230 Querétaro, Qro., Mexico;2. Eléctrica y Computación, Instituto de Ingeniería, Universidad Nacional Autónoma de México, Av. Universidad 3000, 04510 Coyoacán, D.F., Mexico;3. Service d’Automatique, Université de Mons, Blvd. Dolez 31, B-7000 Mons, Belgium;1. Control and Research Group, Department of Engineering, University of Leicester, UK;2. College of Engineering Mathematics and Physical Sciences, University of Exeter, UK |
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| Abstract: | This paper proposes an adaptive sliding mode super-twisting differentiator which allows the gains to adapt based on the ‘quality’ of the sliding motion. A Lyapunov based analysis for the adaptive super-twisting scheme is presented to demonstrate its properties. As an example, the adaptive differentiator proposed in this paper has been used as part of a nonlinear FDI scheme for an Oscillatory Failure Case (OFC) in an actuator. The FDI scheme requires an estimate of the rod speed which is provided by the adaptive super-twisting differentiator. Due to the conditions in which the actuator operates, normally the differentiator gains are initialised at low values to ensure good rod speed estimation in fault free conditions. However for large amplitude/frequency OFCs, the gains must adapt in order to maintain sliding and provide a good estimation. Simulations on a high fidelity nonlinear aircraft benchmark model have been carried out for both liquid and solid OFCs. |
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