Related papers: Active Fault Tolerant Flight Control System Design
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…
This paper presents a novel filter with low computational demand to address the problem of orientation estimation of a robotic platform. This is conventionally addressed by extended Kalman filtering of measurements from a sensor suit which…
Accurately capturing the nonlinear dynamic behavior of structures remains a significant challenge in mechanics and engineering. Traditional physics-based models and data-driven approaches often struggle to simultaneously ensure model…
In this paper, a unified approach to sequence-based control and estimation of linear networked systems with multiple sensors is proposed. Time delays and data losses in the controller-actuator-channel are compensated by sending sequences of…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
This paper aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor UAV that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The…
Water treatment and liquid storage are the two plants implementing the hydraulic three-tank system. Maintaining certain levels is the critical scenario so that the systems run as desired. To deal with, the optimal linear control and the…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
In this paper, an actuator active fault-tolerant controller (FTC) is proposed for the voltage source converter (VSC) which interfaces a distributed energy resource (DER) to the power grid. The proposed active FTC includes two units:…
In this paper, a Fault-Tolerant control of 2 DOF Helicopter (TRMS System) Based on H-infinity is presented. In particular, the introductory part of the paper presents a Fault-Tolerant Control (FTC), the first part of this paper presents a…
This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop…
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…
Dynamic operation of biological processes, such as anaerobic digestion (AD), requires reliable process monitoring to guarantee stable operating conditions at all times. Unscented Kalman filters (UKF) are an established tool for nonlinear…
This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger…
We propose a novel framework for designing a resilient Model Predictive Control (MPC) targeting uncertain linear systems under cyber attack. Assuming a periodic attack scenario, we model the system under Denial of Service (DoS) attack, also…
Stability and satisfactory performance are critical control requirements for Unmanned Aerial Vehicle (UAV) applications. While conventional control systems for UAVs aim to ensure flight stability and safe operation while accomplishing…
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…
We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…