Korbicz, Józef - red. ; Uciński, Dariusz - red.
The concept of combining robust fault estimation within a controller system to achieve active Fault Tolerant Control (FTC) has been the subject of considerable interest in the recent literature. The current study is motivated by the need to develop model-based FTC schemes for systems that have no unique equilibria and are therefore difficult to linearise. Linear Parameter Varying (LPV) strategies are well suited to model-based control and fault estimation for such systems ; This contribution involves pole-placement within suitable LMI regions, guaranteeing both stability and performance of a multi-fault LPV estimator employed within an FTC structure. The proposed design strategy is illustrated using a nonlinear two-link manipulator system with friction forces acting simultaneously at each joint. The friction forces, regarded as a special case of actuator faults, are estimated and their effect is compensated within a polytope controller system, yielding a robust form of active FTC that is easy to apply to real robot systems.
Zielona Góra: Uniwersytet Zielonogórski
AMCS, Volume 22, Number 1 (2012) ; click here to follow the link
Biblioteka Uniwersytetu Zielonogórskiego
Sep 8, 2021
Aug 30, 2018
136
https://zbc.uz.zgora.pl/publication/55073
Edition name | Date |
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An LPV pole-placement approach to friction compensation as an FTC problem | Sep 8, 2021 |
Smoczek, Jarosław Korbicz, Józef - red. Uciński, Dariusz - red.
Montes De Oca, Saúl Puig, Vicenç Witczak, Marcin Dziekan, Łukasz Korbicz, Józef - red. Uciński, Dariusz - red.
Rienmüller, Theresa Hofbaur, Michael Travé-Massuy?s, Louise Bayoudh, Mehdi Korbicz, Józef - red. Uciński, Dariusz - red.
Olive, Xavier Korbicz, Józef - red. Uciński, Dariusz - red.
Ducard, Guillaume J.J. Simani, Silvio - ed. Castaldi, Paolo - ed.
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