Robust fault estimation and fault‐tolerant tracking control for uncertain Takagi–Sugeno fuzzy systems: Application to single link manipulator

AbstractThis paper addresses the problem of robust fault-tolerant control design scheme for a class of Takagi-Sugeno fuzzy systems subject to interval time-varying delay and external disturbances. First, by using improved delay partitioning approach, a novel n-steps iterative learning fault estimation observer under H∞ constraint is constructed to achieve estimation of actuator fault. Then, based on the online estimation information, a fuzzy dynamic output feedback fault-tolerant controller considered interval time delay is designed to compensate for the impact of actuator faults, while guaranteing that the closed-loop system is asymptotically stable with the prescribed H∞ performance. Moreover, all the obtained less conservative sufficient conditions for the existence of fault estimation observer and fault-tolerant controller are formulated in terms of linear matrix inequalities. Finally, the numerical examples and simulation results are presented to show the effectiveness and merits of the proposed methods.

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Fault Estimation and Fault-Tolerant Control Via a Novel Proportional–Integral Observer in Singular Takagi-Sugeno Fuzzy Systems

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4042243 ◽

2019 ◽

Vol 141 (9) ◽

Cited By ~ 1

Author(s):

Min Li ◽

Ming Liu ◽

Yingchun Zhang ◽

Zhuo Chen

Keyword(s):

Fuzzy Systems ◽

Controller Design ◽

Fault Tolerant ◽

Sufficient Conditions ◽

Fault Estimation ◽

Linear Matrix ◽

Closed Loop System ◽

Proportional Integral ◽

System States ◽

Takagi Sugeno

This paper deals with the fault observer and fault-tolerant controller design for singular Takagi–Sugeno (T–S) fuzzy systems subject to actuator faults. First, a novel proportional-integral observer is constructed to estimate the system states and faults. Sufficient conditions for the existence of the proposed observer are given in linear matrix inequality (LMI) terms. Furthermore, based on the state and fault estimation (FE), a fault-tolerant controller (FTC) is designed to effectively accommodate the influence of fault upon state and ensure that the closed-loop system is stable. Finally, a numerical example is given to show the effectiveness of the presented method.

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Fault-Tolerant Tracking Control for Takagi–Sugeno Fuzzy Systems Under Actuator and Sensor Faults

Advances in Intelligent Systems and Computing - Advanced, Contemporary Control ◽

10.1007/978-3-030-50936-1_119 ◽

2020 ◽

pp. 1434-1445

Author(s):

Norbert Kukurowski ◽

Marcin Pazera ◽

Marcin Witczak ◽

Francisco-Ronay López-Estrada ◽

Teódulo Iván Bravo Cruz

Keyword(s):

Tracking Control ◽

Fuzzy Systems ◽

Fault Tolerant ◽

Sensor Faults ◽

Takagi Sugeno

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Integrated fault estimation and non-fragile fault-tolerant control design for uncertain Takagi–Sugeno fuzzy systems with actuator fault and sensor fault

IET Control Theory and Applications ◽

10.1049/iet-cta.2016.1192 ◽

2017 ◽

Vol 11 (10) ◽

pp. 1542-1553 ◽

Cited By ~ 24

Author(s):

Xiaohang Li ◽

Dunke Lu ◽

Guohui Zeng ◽

Jin Liu ◽

Wei Zhang

Keyword(s):

Fuzzy Systems ◽

Fault Tolerant ◽

Control Design ◽

Fault Tolerant Control ◽

Fault Estimation ◽

Actuator Fault ◽

Sensor Fault ◽

Takagi Sugeno

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Robust Tracking Control for Takagi–Sugeno Fuzzy Systems With Unmeasurable Premise Variables: Application to Tank System

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4026467 ◽

2014 ◽

Vol 136 (4) ◽

Cited By ~ 13

Author(s):

H. Ghorbel ◽

A. El Hajjaji ◽

M. Souissi ◽

M. Chaabane

Keyword(s):

Tracking Control ◽

Fuzzy Systems ◽

Design Procedure ◽

Control Design ◽

Linear Matrix ◽

Robust Tracking Control ◽

Fuzzy Observer ◽

Tank System ◽

System States ◽

Takagi Sugeno

In this paper, a robust fuzzy observer-based tracking controller for continuous-time nonlinear systems presented by Takagi–Sugeno (TS) models with unmeasurable premise variables, is synthesized. Using the H∞ norm and Lyapunov approach, the control design for TS fuzzy systems with both unmeasurable premises and system states is developed to guarantee tracking performance of closed loop systems. Sufficient relaxed conditions for synthesis of the fuzzy observer and the fuzzy control are driven in terms of linear matrix inequalities (LMIs) constraints. The proposed method allows simplifying the design procedure and gives the observer and controller gains in only one step. Numerical simulation on a two tank system is provided to illustrate the tracking control design procedure and to confirm the efficiency of the proposed method.

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Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

Guidance, Navigation and Control ◽

10.1142/s2737480721500011 ◽

2021 ◽

Vol 01 (01) ◽

pp. 2150001

Author(s):

Jianye Gong ◽

Yajie Ma ◽

Bin Jiang ◽

Zehui Mao

Keyword(s):

Tracking Control ◽

Formation Control ◽

Control Algorithm ◽

Fault Tolerant ◽

Control Technique ◽

Fault Estimation ◽

Consensus Control ◽

Formation Tracking ◽

Control Scheme ◽

Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

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