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Tracking Fault-Tolerant Control for a Class of Switching Systems with Sensor Faults

  • Research Article-Electrical Engineering
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Abstract

This paper tossed a challenge of developing a novel active fault-tolerant control scheme for switching systems subject to exogenous disturbances and sensor faults. The proposed method is based on a reconfiguration mechanism that uses a mixed \({H_\infty }/{{H}}_{-} \) formulation to design a robust state feedback FTC. This later is designed through a convex optimization technique which leads to solve linear matrix inequalities. Indeed, the main idea presented in this work is to develop an observer-based controller able to detect with accuracy the instant of fault occurrence, to compensate for the fault effect and to minimize the tracking error for all bounded reference inputs. To illustrate the efficiency of the tracking FTC scheme, extensive simulation results carried on a two-link robot arm are included.

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Abbreviations

\({A}^\mathrm{T}\) :

Transpose of the matrix A

\({\bar{{e}}}\) :

Trajectory tracking error

\({y}_{\mathrm{ref}}\) :

Reference input signal

\({P} \ge {0}\) :

Symmetric, positive and definite matrix

\({S}_{i}^{j}\) :

Detection threshold assigned to the jth residual component generated in mode i

\({S}_{{\rho }}\) :

Sensor fault signature

\({{\ell }}\) :

Link length

m :

Mass

I :

Moment of inertia

\({{\ell }} _\mathrm{c}\) :

Distance from the joint to the center of mass

FTC:

Fault-tolerant control

SS:

Switching system

FDI:

Fault detection and isolation

GAS:

Globally asymptotically stable

LMI:

Linear matrix inequality

\(*\) :

The symmetric elements in the matrix

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Authors and Affiliations

  1. Laboratory ACS, Electrical Department, National Engineering School of Tunis (ENIT), University of Tunis El Manar, Box 37, Belvedere, 1002, Tunis, Tunisia

    Islem Labidi, Asma Takrouni & Nadia Zanzouri

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  1. Islem Labidi
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  2. Asma Takrouni
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  3. Nadia Zanzouri
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Correspondence to Islem Labidi.

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Labidi, I., Takrouni, A. & Zanzouri, N. Tracking Fault-Tolerant Control for a Class of Switching Systems with Sensor Faults. Arab J Sci Eng 45, 6639–6648 (2020). https://doi.org/10.1007/s13369-020-04558-8

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