期刊
CONTROL ENGINEERING PRACTICE
卷 101, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2020.104486
关键词
Fault detection and isolation; Fault tolerant control; Sliding-mode control
资金
- CONACyT (Consejo Nacional de Ciencia y Tecnologia), Mexico [CVU 631266, 282013]
- PAPIIT-UNAM (Programa de Apoyo a Proyectos de Investigacion e Innovacion Tecnologica) [IN 115419]
- Bilateral cooperation Italy-Mexico [234791]
Fault tolerant controllers, based on the Continuous Twisting Algorithm (CTA), are designed for robust stabilization of a three-degree-of-freedom (3-DoF) helicopter prototype. Voltage variations (faults) in the actuators are detected and isolated by means of residual-based equations and exploiting the third-order sliding mode differentiator (SMD). Proposed fault detection and isolation (FDI) scheme is tested with intermittent and persistent faults induced by software. A unknown-input sliding mode observer (SMO) is developed to compare and highlight the performance of the proposed FDI-SMD respect to the classic FDI-SMO. Finally, simulations and real-time experiments confirm that CTA-based controllers counteract additive faults. Filtering the signals from residual equations is suggested in order to mitigate the effects of noises and neglected (parasitic) dynamics on the detectors.
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