Sliding-mode fault-tolerant control using the control allocation scheme

Argha, A; Su, SW; Zheng, WX; Celler, BG

Sliding-mode fault-tolerant control using the control allocation scheme

Argha, A

Su, SW

Zheng, WX Celler, BG

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Publication Type:: Journal Article
Citation:: International Journal of Robust and Nonlinear Control, 2019, 29 (17), pp. 6256 - 6273
Issue Date:: 2019-11-25

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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	Zheng, WX	en_US
dc.contributor.author	Celler, BG	en_US
dc.date.accessioned	2020-04-03T05:22:15Z
dc.date.available	2020-04-03T05:22:15Z
dc.date.issued	2019-11-25	en_US
dc.identifier.citation	International Journal of Robust and Nonlinear Control, 2019, 29 (17), pp. 6256 - 6273	en_US
dc.identifier.issn	1049-8923	en_US
dc.identifier.uri	http://hdl.handle.net/10453/139778
dc.description.abstract	© 2019 John Wiley & Sons, Ltd. This paper is devoted to the design of a novel fault-tolerant control (FTC) using the combination of a robust sliding-mode control (SMC) strategy and a control allocation (CA) algorithm, referred to as a CA-based sliding-mode FTC (SMFTC). The proposed SMFTC can also be considered a modular-design control strategy. In this approach, first, a high-level SMC, designed without detailed knowledge of systems' actuators/effectors, commands a vector of virtual control signals to meet the overall control objectives. Then, a CA algorithm distributes the virtual control efforts among the healthy actuators/effectors using the real-time information obtained from a fault detection and reconstruction mechanism. As the underlying system is not assumed to have a rank-deficient input matrix, the control allocator module is visible to the SMC module resulting in an uncertainty. Hence, the virtual control, in this scheme, is designed to be robust against uncertainties emanating from the visibility of the control allocator to the controller and imperfections in the estimated effectiveness gain. The proposed CA-based SMFTC scheme is a unified FTC, which does not need to reconfigure the control system in the case of actuator fault or failure. Additionally, to cope with actuator saturation limits, a novel redistributed pseudoinverse-based CA mechanism is proposed. The effectiveness of the proposed schemes is discussed with a numerical example.	en_US
dc.relation.ispartof	International Journal of Robust and Nonlinear Control	en_US
dc.relation.isbasedon	10.1002/rnc.4727	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Sliding-mode fault-tolerant control using the control allocation scheme	en_US
dc.type	Journal Article
utslib.citation.volume	17	en_US
utslib.citation.volume	29	en_US
utslib.for	0102 Applied Mathematics	en_US
utslib.for	0906 Electrical and Electronic Engineering	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	closed_access	*
pubs.issue	17	en_US
pubs.publication-status	Published	en_US
pubs.volume	29	en_US

Abstract:

© 2019 John Wiley & Sons, Ltd. This paper is devoted to the design of a novel fault-tolerant control (FTC) using the combination of a robust sliding-mode control (SMC) strategy and a control allocation (CA) algorithm, referred to as a CA-based sliding-mode FTC (SMFTC). The proposed SMFTC can also be considered a modular-design control strategy. In this approach, first, a high-level SMC, designed without detailed knowledge of systems' actuators/effectors, commands a vector of virtual control signals to meet the overall control objectives. Then, a CA algorithm distributes the virtual control efforts among the healthy actuators/effectors using the real-time information obtained from a fault detection and reconstruction mechanism. As the underlying system is not assumed to have a rank-deficient input matrix, the control allocator module is visible to the SMC module resulting in an uncertainty. Hence, the virtual control, in this scheme, is designed to be robust against uncertainties emanating from the visibility of the control allocator to the controller and imperfections in the estimated effectiveness gain. The proposed CA-based SMFTC scheme is a unified FTC, which does not need to reconfigure the control system in the case of actuator fault or failure. Additionally, to cope with actuator saturation limits, a novel redistributed pseudoinverse-based CA mechanism is proposed. The effectiveness of the proposed schemes is discussed with a numerical example.

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http://hdl.handle.net/10453/139778