Novel frameworks for the design of fault-tolerant control using optimal sliding-mode control

Argha, A; Su, SW; Savkin, A; Celler, BG

Novel frameworks for the design of fault-tolerant control using optimal sliding-mode control

Argha, A

Su, SW

Savkin, A Celler, BG

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Publication Type:: Journal Article
Citation:: International Journal of Robust and Nonlinear Control, 2018, 28 (8), pp. 3015 - 3032
Issue Date:: 2018-05-25

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Field	Value	Language
dc.contributor.author	Argha, A https://orcid.org/0000-0002-8276-9774	en_US
dc.contributor.author	Su, SW https://orcid.org/0000-0002-5720-8852	en_US
dc.contributor.author	Savkin, A	en_US
dc.contributor.author	Celler, BG	en_US
dc.date.available	2020-05-25T19:22:20Z
dc.date.issued	2018-05-25	en_US
dc.identifier.citation	International Journal of Robust and Nonlinear Control, 2018, 28 (8), pp. 3015 - 3032	en_US
dc.identifier.issn	1049-8923	en_US
dc.identifier.uri	http://hdl.handle.net/10453/132330
dc.description.abstract	Copyright © 2018 John Wiley & Sons, Ltd. This paper describes 2 schemes for a fault-tolerant control using a novel optimal sliding-mode control, which can also be employed as actuator redundancy management for overactuated uncertain linear systems. By using the effectiveness level of the actuators in the performance indexes, 2 schemes for redistributing the control effort among the remaining (redundant or nonfaulty) set of actuators are constructed based on an H2-based optimal sliding-mode control. In contrast to the current sliding-mode fault-tolerant control design methods, in these new schemes, the level of control effort required to maintain sliding is penalised. The proposed optimal sliding-mode fault-tolerant control design schemes are implemented in 2 stages. In the first stage, a state feedback gain is derived using an LMI-based scheme that can assign a number of the closed-loop eigenvalues to a known value whilst satisfying performance specifications. The sliding function matrix related to the particular state feedback derived in the first stage is obtained in the second stage. The difference between the 2 schemes proposed for the sliding-mode fault-tolerant control is that the second one includes a separate control allocation module, which makes it easier to apply actuator constraints to the problem. Moreover, it will be shown that, with the second scheme, we can deal with actuator faults or even failures without controller reconfiguration. We further discuss the advantages and disadvantages of the 2 schemes in more details. The effectiveness of the proposed schemes are illustrated with numerical examples.	en_US
dc.relation.ispartof	International Journal of Robust and Nonlinear Control	en_US
dc.relation.isbasedon	10.1002/rnc.4061	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Novel frameworks for the design of fault-tolerant control using optimal sliding-mode control	en_US
dc.type	Journal Article
utslib.citation.volume	8	en_US
utslib.citation.volume	28	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0102 Applied Mathematics	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	open_access	*
pubs.issue	8	en_US
pubs.publication-status	Published	en_US
pubs.volume	28	en_US

Abstract:

Copyright © 2018 John Wiley & Sons, Ltd. This paper describes 2 schemes for a fault-tolerant control using a novel optimal sliding-mode control, which can also be employed as actuator redundancy management for overactuated uncertain linear systems. By using the effectiveness level of the actuators in the performance indexes, 2 schemes for redistributing the control effort among the remaining (redundant or nonfaulty) set of actuators are constructed based on an H2-based optimal sliding-mode control. In contrast to the current sliding-mode fault-tolerant control design methods, in these new schemes, the level of control effort required to maintain sliding is penalised. The proposed optimal sliding-mode fault-tolerant control design schemes are implemented in 2 stages. In the first stage, a state feedback gain is derived using an LMI-based scheme that can assign a number of the closed-loop eigenvalues to a known value whilst satisfying performance specifications. The sliding function matrix related to the particular state feedback derived in the first stage is obtained in the second stage. The difference between the 2 schemes proposed for the sliding-mode fault-tolerant control is that the second one includes a separate control allocation module, which makes it easier to apply actuator constraints to the problem. Moreover, it will be shown that, with the second scheme, we can deal with actuator faults or even failures without controller reconfiguration. We further discuss the advantages and disadvantages of the 2 schemes in more details. The effectiveness of the proposed schemes are illustrated with numerical examples.

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http://hdl.handle.net/10453/132330