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Fault tolerant control in an unmanned bicycle robot via sliding mode theory

IET Cyber-Systems and Robotics 2022年第2期4卷 139-152页

作者： Mousa Alizadeh Amin Ramezani Hadis Saadatinezhad Department of Electrical and Computer Engineering Tarbiat Modares UniversityTehranIran

In this work,a new active fault tolerant control(FTC)is developed for an unmanned bicycle robot based on an integration between a sliding mode control(SMC),fault detection(FD),and fault estimation(FE)via a residual signal.A sliding surface in accordance with the fault tolerant sliding mode control(FTSMC)is designed for the bicycle robot to get multiple exciting features such as fast transient response with finite time convergence,small overshoot and quick stabilisation in the presence of an actuator *** obtain an effective performance for the FTSMC,a fault estimation system is employed and in order to attain estimation,an extended Kalman filter(EKF)as an estimator and a change detection algorithm called cumulative sum(CUSUM)as a residual evaluation function are *** innovative features of the proposed approach,that is FTSMC,are verified when compared with the other up‐to‐date control techniques like fault tolerant model‐based predictive control with feedback linearisation(FTMPC+FBL)and fault tolerant linear quadratic regulator with feedback linearisation(FTLQR+FBL)on an unmanned bicycle robot.

关键词： cumulative sum extended Kalman filter fault tolerant control feedback linearisation sliding mode control unmanned bicycle robot

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Inter-relationship between approximate dynamic inversion and MRAC augmented with proportional-integral controller

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Journal of Control and Decision 2023年第3期10卷 348-354页

作者： Santanu Mallick Ujjwal Mondal Department of Applied Electronics and Instrumentation Engineering Bankura Unnayani Institute of EngineeringBankuraIndia Instrumentation Engineering Department of Applied PhysicsUniversity of CalcuttaKolkataIndia

Approximate Dynamic Inversion (ADI) is basically an approximation of exact dynamic inversionor feedback linearisation, which converts a nonlinear system to an equivalent linear *** method can be widely applied for controlling minimum phase, nonaffine-in-control *** applying the ADI method, a fast dynamic subsystem for deriving explicit inversion of thenonaffine equation is required. With full state feedback, ADI may be expressed in the same way asa Proportional Integral (PI) controller with only knowledge of the sign of control effectiveness andalso without any approximation. The Model Reference Adaptive Controller (MRAC) augmentedwith the PI method is an adaptive control technique where the PI parameters are updated/tunedas per the control methodology based on the MRAC-Massachusetts Institute of Technology (MIT)rule so that the plant is capable to follow the reference model. The main objective of this paperis to find the relationship between ADI and MRAC augmented with a PI controller.

关键词： Adaptive control approximate dynamic inversion(ADI) feedback linearisation Massachusetts Institute of Technology(MIT)rule model reference adaptive controller(MRAC) proportional-integral(PI)controller

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Integrated control of highway traffic flow

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Journal of Control and Decision 2018年第1期5卷 19-41页

作者： Yihang Zhang Petros A.Ioannou Department of Electrical Engineering University of Southern CaliforniaLos AngelesCAUSA

Several efforts have been made during recent years on the control of traffic flow using ramp metering,variable speed limit and lane change *** of these techniques reported significant traffic mobility improvements in macroscopic simulations,which cannot be confirmed in some microscopic simulation *** demonstrate that the lack of travel time improvement is due to the forced lane changes at the bottleneck which introduce a capacity *** this paper,a lane change controller is proposed which provides lane change recommendations to avoid the capacity *** with the lane change control,a feedback linearisation variable speed limit controller which maintains the bottleneck flow at the maximum level and coordinates with ramp metering controllers is *** integrated VSL,RM and LC controller can improve system performance,manage the ramp queues and maintain the fairness between mainline and on-ramp *** simulations show consistent improvements under different scenarios.

关键词： Variable speed limit lane change ramp metering feedback linearisation

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