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Research Papers

Adaptive Observer-Based Integrated Fault Diagnosis and Fault-Tolerant Control Systems Against Actuator Faults and Saturation

[+] Author and Article Information
Jinhua Fan

College of Mechatronic Engineering and Automation,
National University of Defense Technology,
Changsha, Hunan, 410073PRC;
Department of Mechanical and Industrial Engineering,
Concordia University,
Montreal, QC H3G 1M8, Canada
e-mail: fjhcom@gmail.com

Youmin Zhang

Department of Mechanical and Industrial Engineering,
Concordia University,
Montreal, QC H3G 1M8, Canada
e-mail: ymzhang@encs.concordia.ca

Zhiqiang Zheng

College of Mechatronic Engineering and Automation,
National University of Defense Technology,
Changsha, Hunan, 410073PRC
e-mail: zqzheng@nudt.edu.cn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received February 20, 2012; final manuscript received December 25, 2012; published online May 13, 2013. Assoc. Editor: Won-jong Kim.

J. Dyn. Sys., Meas., Control 135(4), 041008 (May 13, 2013) (13 pages) Paper No: DS-12-1060; doi: 10.1115/1.4023763 History: Received February 20, 2012; Revised December 25, 2012

A challenging problem on observer-based, integrated fault diagnosis and fault-tolerant control for linear systems subject to actuator faults and control input constraints is studied in this paper. An adaptive observer approach is used for the joint state-fault magnitude estimation, and a feedback controller is designed to stabilize the closed-loop system without violating the actuator limits in the presence of actuator faults. Matrix inequality conditions are provided for computation of design parameters of the observer and the feedback controller, and the admissible initial conditions and estimation errors are bounded by invariant ellipsoidal sets. The design results are closely related to the fault magnitude and variation rate, and a necessary condition on the admissible fault magnitudes dependent on the control limits is directly obtained from the design process. The proposed design framework allows a direct application of the pole placement method to obtain stabilization results. To improve the system performance, a nonlinear programming-based optimization algorithm is proposed to compute an optimized feedback gain, whereas the one obtained by pole placement can be taken as an initial feasible solution for nonlinear optimization. Numerical studies with two flight control systems demonstrate the effectiveness of proposed design techniques.

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Figures

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Fig. 1

Configuration of the proposed closed-loop system

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Fig. 2

Fault estimation processes and estimation errors under constant faults

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Fig. 3

State responses, state estimation errors, and the set-invariance properties under constant faults

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Fig. 4

Actuator responses under constant faults

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Fig. 5

Searching process for minimization for the case of constant faults

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Fig. 6

Searching process for minimization and comparison of invariant sets obtained by pole placement and optimization

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Fig. 7

Fault diagnosis results with time-varying faults

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Fig. 8

System states responses and state estimation

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Fig. 9

Actuator responses for both fault scenarios

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