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research-article

Tracking fault tolerant control for hybrid system: Two-link human arm application

[+] Author and Article Information
Islem Labidi

University of Tunis El Manar, National engineering school of Tunis, Laboratory ACCS, LR11ES20, Box 37, Belvedere 1002 Tunis, Tunisia
labidiislem@ymail.com

Nadia Zanzouri

University of Tunis El Manar, National engineering school of Tunis, Laboratory ACCS, LR11ES20, Box 37, Belvedere 1002 Tunis, Tunisia
nadia.zanzouri@enit.rnu.tn

Asma Takrouni

University of Tunis El Manar, National engineering school of Tunis, Laboratory ACCS, LR11ES20, Box 37, Belvedere 1002 Tunis, Tunisia
takrouni_asma1@yahoo.fr

1Corresponding author.

ASME doi:10.1115/1.4042378 History: Received August 18, 2017; Revised December 12, 2018

Abstract

This paper proposes a novel Fault Tolerant Control (FTC) scheme for a class of hybrid dynamical system subject to sensor faults. The corresponding FTC architecture is designed around a reconfiguration mechanism. It aims to compensate the effects of the sensors degradation and maintain satisfactory performances including continuous stability. Moreover, by using the Linear Matrix Inequalities (LMI) approach, a fault estimation algorithm is fulfilled and the compromise between robustness to disturbances and sensitivity to fault is guaranteed. For the sake of trajectory tracking, a combined robust state feedback and PID control system is proposed herein. Finally, extensive simulation results conducted on two-link arm system are included to illustrate the efficiency of the designed FTC scheme.

Copyright (c) 2018 by ASME
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