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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2022, Vol. 4 Issue (2): 139-152    DOI: 10.1049/csy2.12032
    
Fault tolerant control in an unmanned bicycle robot via sliding mode theory
Fault tolerant control in an unmanned bicycle robot via sliding mode theory
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摘要： In this work, a new active fault tolerant control (FTC) is developed for an unmanned bicycle robot based on an integration between a sliding mode control (SMC), fault detection (FD), and fault estimation (FE) via a residual signal. A sliding surface in accordance with the fault tolerant sliding mode control (FTSMC) is designed for the bicycle robot to get multiple exciting features such as fast transient response with finite time convergence, small overshoot and quick stabilisation in the presence of an actuator fault. To obtain an effective performance for the FTSMC, a fault estimation system is employed and in order to attain estimation, an extended Kalman filter (EKF) as an estimator and a change detection algorithm called cumulative sum (CUSUM) as a residual evaluation function are developed. The innovative features of the proposed approach, that is FTSMC, are verified when compared with the other up-to-date control techniques like fault tolerant model-based predictive control with feedback linearisation (FTMPC + FBL) and fault tolerant linear quadratic regulator with feedback linearisation (FTLQR + FBL) on an unmanned bicycle robot.
Abstract: In this work, a new active fault tolerant control (FTC) is developed for an unmanned bicycle robot based on an integration between a sliding mode control (SMC), fault detection (FD), and fault estimation (FE) via a residual signal. A sliding surface in accordance with the fault tolerant sliding mode control (FTSMC) is designed for the bicycle robot to get multiple exciting features such as fast transient response with finite time convergence, small overshoot and quick stabilisation in the presence of an actuator fault. To obtain an effective performance for the FTSMC, a fault estimation system is employed and in order to attain estimation, an extended Kalman filter (EKF) as an estimator and a change detection algorithm called cumulative sum (CUSUM) as a residual evaluation function are developed. The innovative features of the proposed approach, that is FTSMC, are verified when compared with the other up-to-date control techniques like fault tolerant model-based predictive control with feedback linearisation (FTMPC + FBL) and fault tolerant linear quadratic regulator with feedback linearisation (FTLQR + FBL) on an unmanned bicycle robot.
出版日期: 2022-07-22
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Mousa Alizadeh
Amin Ramezani
Hadis Saadatinezhad

引用本文:

Mousa Alizadeh, Amin Ramezani, Hadis Saadatinezhad. Fault tolerant control in an unmanned bicycle robot via sliding mode theory. IET Cyber-Systems and Robotics, 2022, 4(2): 139-152.

链接本文:

https://www.zjujournals.com/iet-csr/CN/10.1049/csy2.12032    或    https://www.zjujournals.com/iet-csr/CN/Y2022/V4/I2/139

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