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Research Papers

Tracking Fault Tolerant Control for Hybrid System: Two-Link Human Arm Application

[+] Author and Article Information
Labidi Islem

National Engineering School of Tunis
Laboratory ACCS,
University of Tunis El Manar,
LR11ES20,
P.O. Box 37,
Belvedere, Tunis 1002, Tunisia
e-mail: labidiislem@ymail.com

Zanzouri Nadia

National Engineering School of Tunis
Laboratory ACCS,
University of Tunis El Manar,
LR11ES20,
P.O. Box 37,
Belvedere, Tunis 1002, Tunisia
e-mail: nadia.zanzouri@enit.rnu.tn

Takrouni Asma

National Engineering School of Tunis
Laboratory ACCS,
University of Tunis El Manar,
LR11ES20,
P.O. Box 37,
Belvedere, Tunis 1002, Tunisia
e-mail: takrouni_asma1@yahoo.fr

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received August 18, 2017; final manuscript received December 12, 2018; published online January 31, 2019. Assoc. Editor: Yahui Liu.

J. Dyn. Sys., Meas., Control 141(5), 051015 (Jan 31, 2019) (8 pages) Paper No: DS-17-1414; doi: 10.1115/1.4042378 History: Received August 18, 2017; Revised December 12, 2018

This paper proposes a novel fault tolerant control (FTC) scheme for a class of hybrid dynamical system (HDS) 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 proportional-integral-derivative 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.

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References

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Figures

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Fig. 1

Reconfigurable state feedback fault-tolerant control architecture

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Fig. 2

The configuration of the two-link human arm

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Fig. 7

Evolution of the decision signal

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Fig. 8

Evolution of the FTC signal of the two-link arm system

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Fig. 9

Trajectories of the system outputs (solid line) and reference signals (dashed line)

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Fig. 5

Evolution of the structured residuals signal's norms

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Fig. 6

Evolution of the real sensor fault signatures

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Fig. 3

Modeling of the two-link system with hybrid automaton

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