TY - JOUR
T1 - Robust Fault Estimation and Fault-Tolerant Control for Discrete-Time Systems Subject to Periodic Disturbances
AU - Hu, Yuxiang
AU - Dai, Xuewu
AU - Wu, Yunkai
AU - Jiang, Bin
AU - Cui, Dongliang
AU - Jia, Zhian
N1 - Funding information: This work was supported in part by the Science and Technology Major Project 2020 of Liaoning Province under Grant 2020JH1/10100008; in part by the National Natural Science Foundation of China under Grant 61773111, Grant 61790574, Grant 61833004, and Grant 62173164; in part by the Heilongjiang Provincial Key Science and Technology Project under Grant 2020ZX03A02; in part by the National Key Research and Development Program of China under Grant 2022ZD0115402; and in part by the Natural Science Foundation of Jiangsu Province of China under Grant BK20201451.
PY - 2023/7/1
Y1 - 2023/7/1
N2 - To enhance the reliability of digital automation systems in the Industry 4.0 era, this paper investigates a robust fault-tolerant control scheme in the discrete-time domain subject to periodic disturbances, consisting of a fault estimator, dynamic disturbance compensation loop, and fault-tolerant controller. The fault estimator simultaneously estimates both the system states and actuator/sensor faults. The existence and stability conditions of the proposed estimator are given, and a robust design method is proposed to make the state estimates robust to disturbances. To further reduce the estimation errors caused by periodic disturbances, a novel disturbance compensation loop is introduced and is optimized by a joint zero-assignment and pole-optimization method to delicately compensate for the adverse impacts of periodic input disturbances. The proposed robust fault-tolerant controller uses fault estimation to ensure fast recovery in the event of bounded actuator/sensor faults. The proposed scheme is evaluated through simulations of a two-wheeled mobile robot subject to periodic disturbances and simultaneous abrupt inclination angular sensor and ramp actuator faults, where its performance is shown to exceed that of existing methods.
AB - To enhance the reliability of digital automation systems in the Industry 4.0 era, this paper investigates a robust fault-tolerant control scheme in the discrete-time domain subject to periodic disturbances, consisting of a fault estimator, dynamic disturbance compensation loop, and fault-tolerant controller. The fault estimator simultaneously estimates both the system states and actuator/sensor faults. The existence and stability conditions of the proposed estimator are given, and a robust design method is proposed to make the state estimates robust to disturbances. To further reduce the estimation errors caused by periodic disturbances, a novel disturbance compensation loop is introduced and is optimized by a joint zero-assignment and pole-optimization method to delicately compensate for the adverse impacts of periodic input disturbances. The proposed robust fault-tolerant controller uses fault estimation to ensure fast recovery in the event of bounded actuator/sensor faults. The proposed scheme is evaluated through simulations of a two-wheeled mobile robot subject to periodic disturbances and simultaneous abrupt inclination angular sensor and ramp actuator faults, where its performance is shown to exceed that of existing methods.
KW - discrete-time system
KW - Fault estimation
KW - periodic disturbance
KW - robust fault-tolerant control
UR - http://www.scopus.com/inward/record.url?scp=85159795958&partnerID=8YFLogxK
U2 - 10.1109/TCSI.2023.3268035
DO - 10.1109/TCSI.2023.3268035
M3 - Article
AN - SCOPUS:85159795958
SN - 1549-8328
VL - 70
SP - 2982
EP - 2994
JO - IEEE Transactions on Circuits and Systems I: Regular Papers
JF - IEEE Transactions on Circuits and Systems I: Regular Papers
IS - 7
ER -
