Related papers: Fault-Tolerant Control Allocation: an Unknown Inpu…
An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…
Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may…
Reliable controllers with high flexibility and performance are necessary for the control of intricate, advanced, and expensive systems such as aircraft, marine vessels, automotive vehicles, and satellites. Meanwhile, control allocation has…
This paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain multi-agent systems. A local FTC scheme is designed for each agent using local measurements and suitable information exchanged between…
This paper addresses Fault Tolerant Control (FTC) of Large Power Systems (LPS) subject to sensor failure. Hiding the fault from the controller allows the nominal controller to remain in the loop. We assume specific faults that violate…
This paper proposes a projection algorithm which can be employed to bound actuator signals, in terms of both magnitude and rate, for uncertain systems with redundant actuators. The investigated closed loop control system is assumed to…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
Observers are well known in control theory. Originally designed to estimate the hidden states of dynamical systems given some measurements, the observers scope has been recently extended to the estimation of some unknowns, for systems…
This work addresses the design of a robust hybrid observer for discrete-time switched linear systems subject to unknown inputs and modeling errors. The observer herein proposed is synthesized, for the case when the active mode is unknown…
This article focuses on the development of functional unknown input observers for systems with arbitrary relative degree. Two distinct approaches are presented to address this challenge. The first approach is tailored to a class of…
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…
This paper deals with the problem of robust fault estimation for the Lipschitz nonlinear systems under the influence of sensor faults and actuator faults. In the proposed methodology, a descriptor system is formulated by augmenting sensor…
This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…
This paper shows how the theory of nonlinear adaptive observers can be effectively used in the design of internal models for nonlinear output regulation. The theory substantially enhances the existing results in the context of {\em…
The security of control systems under sensor attacks is investigated. Redundant observability is introduced, explaining existing security notions including the security index, attack detectability, and observability under attacks.…
The problem of unknown input observer design is considered for coupled PDE/ODE systems subject to incremental sector bounded nonlinearities and unknown boundary inputs. Assuming available measurements at the boundary of the distributed…
This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
In quantum engineering, faults may occur in a quantum control system, which will cause the quantum control system unstable or deteriorate other relevant performance of the system. This note presents an estimator-based fault-tolerant control…
The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional…