A fault-tolerant control strategy for non-linear discrete-time systems: application to the twin-rotor system |
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Authors: | Marcin Witczak Vicenç Puig Saúl Montes de Oca |
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Affiliation: | 1. Institute of Control and Computation Engineering, University of Zielona Góra, ul. Podgórna 50, 65–246 Zielona Góra, Polandm.witczak@issi.uz.zgora.pl;3. Advanced Control Systems (SAC) and Institut de Robòtica i Informàtica Industrial (IRI), Universitat Politècnica de Catalunya (UPC) and Consejo Superior de Investigaciones Científicas (CSIC), Pau Gargallo, 5, 08028 Barcelona, Spain |
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Abstract: | In this paper, an active fault-tolerant control scheme is proposed in the case of actuator faults. In particular, the general idea of integrating fault identification and control schemes, which takes into account the fault estimation error is first presented in a linear context. As a result, the so-called separation principle for the controller and the fault identification scheme is developed. Subsequently, the proposed approach is extended to a class of non-linear systems. Similarly to the linear case, it is proven that using a suitable control strategy and a faulty identification scheme it is possible to obtain an integrated fault-tolerant control framework, which takes into account the fault identification error. As a result, a non-linear counterpart of the above-mentioned separation principle is developed. Finally, the last part of the paper shows the application results obtained using a twin-rotor system that confirm the high performance of the proposed approach. |
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Keywords: | fault-tolerant control fault diagnosis non-linear systems fault identification observers |
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