Self-Healing Fault-Tolerant Control for High-Order Fully Actuated Systems Against Sensor Faults: A Redundancy Framework

被引:15
作者
Cai, Miao [1 ]
He, Xiao [1 ]
Zhou, Donghua [1 ,2 ]
机构
[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
[2] Shandong Univ Sci & Technol, Coll Elect Engn & Automat, Qingdao 266590, Peoples R China
基金
中国国家自然科学基金;
关键词
NONLINEAR-SYSTEMS; TRACKING CONTROL; STATE ESTIMATION; OBSERVER;
D O I
10.1109/TCYB.2023.3285903
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This article presents a novel self-healing fault accommodation framework for high-order fully actuated systems (HOFASs) with sensor faults. Starting from the HOFAS model with nonlinear measurements, a q-redundant observation proposition is derived from an observability normal form based on each individual measurement. On the heels of the ultimately uniformly bounded error dynamics, a definition of sensor fault accommodation is determined. After a necessary and sufficient accommodation condition is highlighted, a self-healing fault-tolerant control strategy is proposed, which can be applied in steady-state processes or transient processes. The main results are proved theoretically and illustrated experimentally.
引用
收藏
页码:2628 / 2640
页数:13
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