کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5004079 1461189 2017 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A hybrid robust fault tolerant control based on adaptive joint unscented Kalman filter
ترجمه فارسی عنوان
یک کنترل هیپرتویید قوی با شکستگی با استفاده از فیلتر کلامن بدون آسیب جفت سازگار
کلمات کلیدی
کنترل حالت کشویی غیر مجرد، کنترل ضعف فیلتر کلام کلاسیک ناخواسته مشترک، تشخیص و تشخیص گسل، سیستم سوئیچینگ مبتنی بر منطق فازی، خب کنترل کننده قوی
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
چکیده انگلیسی


- A hybrid fault tolerant control scheme is proposed.
- A new adaptive joint unscented Kalman filter is introduced.
- The scheme is a combination of a robust H∞ controller and Non-Singular Terminal Sliding Mode control.
- The proposed method is based on the simultaneous estimation of the system states and parameters.
- In order to show the efficiency of the proposed scheme, a simulated 3-DOF robotic manipulator is used.

In this paper, a new hybrid robust fault tolerant control scheme is proposed. A robust H∞ control law is used in non-faulty situation, while a Non-Singular Terminal Sliding Mode (NTSM) controller is activated as soon as an actuator fault is detected. Since a linear robust controller is designed, the system is first linearized through the feedback linearization method. To switch from one controller to the other, a fuzzy based switching system is used. An Adaptive Joint Unscented Kalman Filter (AJUKF) is used for fault detection and diagnosis. The proposed method is based on the simultaneous estimation of the system states and parameters. In order to show the efficiency of the proposed scheme, a simulated 3-DOF robotic manipulator is used.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 66, January 2017, Pages 262-274
نویسندگان
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