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SCIENCE CHINA Information Sciences, Volume 61, Issue 7: 070224(2018) https://doi.org/10.1007/s11432-017-9435-3

Guaranteeing almost fault-free tracking performance from transient to steady-state: a disturbance observer approach

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  • ReceivedNov 9, 2017
  • AcceptedApr 20, 2018
  • PublishedJun 5, 2018

Abstract

In this paper, we propose an output-feedback fault-tolerant controller (FTC) for a class of uncertain multi-input single-output systems under float and lock-in-place actuator faults.Of particular interest is to recover a fault-free tracking performance of a (pre-defined) nominal closed-loop system, during the entire time period including the transients due to abrupt actuator faults.As a key component, a high-gain disturbance observer (DOB) is employed to rapidly compensate the lumped disturbance, a compressed expression of all the effect of actuator faults (as well as model uncertainty and disturbance) on the system.To implement this high-gain approach, a fixed control allocation (CA) law is presented in order to keep an extended system with a virtual scalar input to remain of minimum phase under any patterns of faults.It is shown via the singular perturbation theory that the proposed FTC, consisting of the high-gain DOB and the CA law, resolves the problem in an approximate but arbitrarily accurate sense.Simulations with the linearized lateral model of Boeing 747 are performed to verify the validity of the proposed FTC scheme.


Acknowledgment

This work was partly supported by Institute for Information Communications Technology Promotion (IITP) Grant Funded by the Korea Government (MSIP) (Grant No. 2014-0-00065, Resilient Cyber-Physical Systems Research), and partly by National Research Foundation of Korea (NRF) Grant Funded by the Korea Government (MSIP) (Grant No. 2015R1A2A2A01003878).


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  • Figure 1

    (Color online) Overall configuration of proposed DOB-based FTC consisting of input allocation law 10, baseline controller 22, and DOB 28a.

  • Figure 2

    (Color online) Simulation results when two lock-in-place faults take place. (a) Output $({\rm~rad/s})$: actual output $y(t)$ with (black dash-dotted) and without DOB (red solid), and nominal output $y_{\mathsf{n}}(t)$ (green dashed); (b) tracking error $({\rm~rad/s})$:actual error $r(t)-y(t)$ with (black dash-dotted) and without DOB (red solid), and nominal error $r(t)-y_{\mathsf{n}}(t)$ (green dashed); (c) control input $({\rm~rad})$ with the proposed FTC: $u_1(t)$ (darkest), $u_3(t)$ (intermediate), $u_2(t)$ (brightest); (d) partial state $\zeta$ with the proposed FTC: $\zeta_1(t)$ $({\rm~rad/s})$ (yellow solid), $\zeta_2(t)$ $({\rm~rad})$ (blue dash-dotted), $\zeta_3(t)$ $({\rm~rad/s})$ (brown dashed).

  • Figure 3

    (Color online) Simulation results when two floating faults sequentially occur. (a) Output $({\rm~rad/s})$: actual output $y(t)$ with (black dash-dotted) and without DOB (red solid), and nominal output $y_{\mathsf{n}}(t)$ (green dashed); (b) tracking error $({\rm~rad/s})$: actual error $r(t)-y(t)$ with (black dash-dotted) and without DOB (red solid), and nominal error $r(t)-y_{\mathsf{n}}(t)$ (green dashed); (c) control input $({\rm~rad})$: $u_1(t)$ (darkest), $u_3(t)$ (intermediate), $u_2(t)$ (brightest); (d) partial state $\zeta$: $\zeta_1(t)$ $({\rm~rad/s})$ (yellow solid), $\zeta_2(t)$ $({\rm~rad})$ (blue dash-dotted), $\zeta_3(t)$ $({\rm~rad/s})$ (brown dashed).

  • Figure 4

    (Color online) Simulation results when two lock-in-place faults take place for comparison of the proposed FTC and the adaptive FTC in [22]. (a) Output $({\rm~rad/s})$: actual output $y(t)$ with the proposed FTC (black dash-dotted) and the adaptive FTC in [22](cyan solid); (b) tracking error $({\rm~rad/s})$:actual error $r(t)-y(t)$ with the proposed FTC (black dash-dotted) and the adaptive FTC in [22](cyan solid); (c) control input $({\rm~rad})$ with the adaptive FTC in [22]: $u_1(t)$ (darkest), $u_3(t)$ (intermediate), $u_2(t)$ (brightest); (d) partial state $\zeta$ the adaptive FTC in [22]: $\zeta_1(t)$ $({\rm~rad/s})$ (yellow solid), $\zeta_2(t)$ $({\rm~rad})$ (blue dash-dotted), $\zeta_3(t)$ $({\rm~rad/s})$ (brown dashed).

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