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Robust Fault-Tolerant Control of an Electro-Hydraulic Actuator With a Novel Nonlinear Unknown Input Observer

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Alternative Title
Robust Fault-Tolerant Control of an Electro-Hydraulic Actuator With a Novel Nonlinear Unknown Input Observer
Abstract
In this paper, a novel adaptive fault-tolerant controller is proposed for a typical electro-hydraulic rotary actuator in the presence of disturbances, internal leakage fault, and sensor fault simultaneously. To construct the suggested controller, a nonlinear unknown input observer is developed to effectively identify the sensor fault, which is unaffected by not only internal leakage fault but also mismatched disturbances/uncertainties. Furthermore, a radial basis function neural network is designed to compensate for the mismatched disturbances/uncertainties caused by payload variation and unknown friction nonlinearities. Besides, an adaptive law based on the projection mapping function is applied to tackle the effect of the internal leakage fault. The integration of the above-mentioned techniques into the adaptive backstepping terminal sliding mode is investigated to obtain high tracking performance, robustness as well as fast convergence. The stability of the closed-loop system is proven by the Lyapunov theory. Finally, the capability and effectiveness of the proposed approach are validated via simulation results under various faulty scenarios.
Author(s)
다오 호앙 부보 꽁 팟안경관판 반 두
Issued Date
2021
Type
Article
Keyword
Mismatched disturbancefault detection and identificationfault-tolerant control
DOI
10.1109/ACCESS.2021.3059947
URI
https://oak.ulsan.ac.kr/handle/2021.oak/8858
https://ulsan-primo.hosted.exlibrisgroup.com/primo-explore/fulldisplay?docid=TN_cdi_doaj_primary_oai_doaj_org_article_07fe74043b874976b1c3b8a96b7de179&context=PC&vid=ULSAN&lang=ko_KR&search_scope=default_scope&adaptor=primo_central_multiple_fe&tab=default_tab&query=any,contains,Robust%20Fault-Tolerant%20Control%20of%20an%20Electro-Hydraulic%20Actuator%20With%20a%20Novel%20Nonlinear%20Unknown%20Input%20Observer&offset=0&pcAvailability=true
Publisher
IEEE ACCESS
Location
미국
Language
영어
ISSN
2169-3536
Citation Volume
9
Citation Number
1
Citation Start Page
30750
Citation End Page
30760
Appears in Collections:
Engineering > Mechanical and Automotive Engineering
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