Switching fault-tolerant control for a class of nonlinear systems with actuator faults

摘要：

　　This paper presents a fault-tolerant control (FTC) strategy for a class of uncertain nonlinear systems with actuator faults.The faults acting on the actuator are described by a unified model of bias,loss-of-effectiveness,stuck and hard-over faults.By constructing a logic-based switching rule,the actuator faults can be automatically accommodated by switching from the stuck actuator to a healthy one (or even a partly-losing-effectiveness one with bias),even in the presence of large parametric uncertainty.A simulation example of single-link flexible-joint robot is given to show the effectiveness of the proposed FTC controller.

关键词： Actuator faults Nonlinear systems Fault-tolerant control Uncertain systems switching control

作者: Hong-Jun Ma Guang-Hong Yang Dan Ye

作者单位: School of Information Science and Engineering, Northeastern University, Shenyang, 110004;State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, 110004

会议类型: 国际会议

会议名称: the 25th Chinese Control and Decision Conference(第25届中国控制与决策会议)

会议地点: 贵阳

会议语种:英文

页码: 4797-4802

在线出版日期: 2013-05-01（万方平台首次上网日期，不代表论文的发表时间）