Model-free active fault tolerant control for sensor fault
Résumé
An active model-free sensor fault tolerant control approach is presented in this paper. The proposed method is based on a model-free controller that has demonstrated an effective ability to work without any analytical model knowledge. The active fault tolerant control procedure has three stages: firstly, the model-free controller is designed using an ultra-local model; secondly, this ultra-local model is used to detect and estimate the sensor fault; thirdly, the obtained estimation is used to adapt the control law according to the sensor fault. The aim of the proposed active fault tolerant control procedure is to ensure that the regulated output, but not the measured one, tracks the desired trajectory despite the occurrence of a sensor fault. The developed method is validated via numerical simulations for both stable and unstable linear systems. The performances of the developed active fault tolerant control procedure for unstable systems are evaluated with and without saturation of the control input.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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