Title :
Fault Accommodation for Nonlinear Dynamic Systems
Author :
Bin Jiang ; Staroswiecki, M. ; Cocquempot, V.
Author_Institution :
Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut.
Abstract :
This note investigates process fault accommodation in a class of nonlinear continuous-time systems. A new fault estimation module, based on an adaptive estimator, is first proposed. The fault tolerant controller is constructed to compensate for the effect of the faults by stabilizing the closed-loop system. A flexible joint robotic example is given to illustrate the efficiency of the proposed approach
Keywords :
adaptive estimation; closed loop systems; continuous time systems; nonlinear control systems; nonlinear dynamical systems; stability; adaptive estimation; closed-loop system; fault accommodation; fault estimation module; fault tolerant controller; nonlinear continuous-time systems; nonlinear dynamic systems; Adaptive control; Automation; Control systems; Fault detection; Fault tolerant systems; Nonlinear control systems; Nonlinear systems; Programmable control; Robots; State estimation; Active fault-tolerant control (FTC); adaptive estimator; fault estimation; nonlinear continuous-time systems;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2006.878732
