Journal
INTERNATIONAL JOURNAL OF CONTROL
Volume 92, Issue 3, Pages 693-704Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2017.1367102
Keywords
MIMO; nonlinear; sliding mode control; adaptive; uncertainties; actuator fault; passive fault tolerant control; two DOF helicopter; two-link robot manipulator
Categories
Ask authors/readers for more resources
Fault tolerant control of affine class of multi-input multi-output (MIMO) nonlinear systems has not received considerable attention of researchers compared to other class of nonlinear systems. Therefore, this paper proposes an adaptive passive fault tolerant control method for actuator faults of affine class of MIMO nonlinear systems with uncertainties using sliding mode control . The actuator fault is represented by a multiplicative factor of the control signal which reflects the loss of actuator effectiveness. The design of the controller is based on the assumption that the maximum loss level of the actuator effectiveness is known. Furthermore, since the proposed controller is adaptive, it does not require any a-priori knowledge of the uncertainty bounds. The closed-loop stability conditions of the controller are derived based on Lyapunov theory. The effectiveness of the proposed controller is demonstrated considering two examples: a two degree of freedom helicopter and a two-link robot manipulator and has been found to be satisfactory.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available