Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: An efficient fault tolerant control scheme for Euler-Lagrange systems
Contributor:
Kitowski, Zygmunt - ed. ; Piskur, Paweł - ed. ; Hożyń , Stanisław - ed.
Subtitle:
Group publication title:
Abstract:
Every closed-loop system holds a level of fault tolerance, which could be increased by using a fault tolerant control (FTC) scheme. In this paper, an efficient FTC scheme for a class of nonlinear systems (Euler?Lagrange ones) is proposed, which guarantees high performance and stability in a faulty system. This scheme was designed on the basis of a cascade control structure in which the inner loop is the closed-loop system and the external loop is the FTC, a generalized proportional integral (GPI) observer-based controller, which manages the fault tolerance level increment. ; An important issue of the proposed scheme is that the GPI observer-based controller jointly estimates disturbances and faults, providing information about the state of health of the system, and then compensates their effect. The scheme is efficient because only the inertia matrix is required for the controller design, it is able to preserve the nominal control law unchanged and can operate properly without explicit information about system faults (fault diagnostic module). Simulation results, on a pendulum model, show the effectiveness of the proposed scheme for tracking control.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 33, number 2 (2023) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2023)
Last modified:
Jul 25, 2025
In our library since:
Jul 25, 2025
Number of object content hits:
8
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/101585
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 33, number 1 (2023)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 33, number 2 (2023)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 33, number 3 (2023)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 33, number 4 (2023)
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| Edition name | Date |
|---|---|
| An efficient fault tolerant control scheme for Euler-Lagrange systems | Jul 25, 2025 |
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