Fault tolerant control for uncertain systems with time varying state-delay is studied in this paper. Based on sliding mode controller design, a fault tolerant control method is proposed. By means of the feasibility of some linear matrix inequalities (LMIs), delay dependent sufficient condition is derived for the existence of a linear sliding surface which guarantees quadratic stability of the r...

In this paper, a continuous stable tracking control algorithm is proposed for spacecraft in the presence of unknown actuator failure, control input saturation and external disturbances. The design method is based on variable structure control and has the following properties: 1) fast and accurate response in the presence of bounded disturbances; 2) robust to the partial loss of actuator effecti...

In this paper, the robust fault detection problem for LPV singular delayed systems in the presence of disturbances and actuator faults is considered. For both disturbance decoupling and actuator fault detection, an unknown input observer (UIO) is proposed. The aim is to compute a residual signal which has minimum sensitivity to disturbances while having maximum sensitivity to faults. Robustness...

For any robotic system, fault tolerance is a desirable property. This work uses a comparative approach to investigate fault tolerance and the associated problem of reduced manipulability of robots. An important result in combinatorial matrix theory is first obtained. Its consequent modifications are then applied to the theory of fault tolerance of robotic manipulators. It is shown that for a ce...

An adaptive dynamic inversion control formulation is presented that takes advantage of the inherent dynamic structure of the state-space description of a large class of systems. The formulations impose the exact kinematic differential equations, thereby restricting the adaptation process that compensates for model errors to the acceleration level. The utility of this formulation is demonstrated...

A new approach to manage actuator redundancy in the presence of faults is proposed based on reliability indicators and a reference governor. The aim is to preserve the health of the actuators and the availability of the system both in the nominal behavior and in the presence of actuator faults. The use of reference governor control allocation is a solution to distribute the control efforts amon...

In this paper, a continuous globally stable tracking control algorithm is proposed for a spacecraft in the presence of unknown actuator failure, control input saturation, uncertainty in inertial matrix and external disturbances. The design method is based on variable structure control and has the following properties: (1) fast and accurate response in the presence of bounded disturbances; (2) r...

This study describes the design and testing of a dual-lane electric drive for a prototype, electromechanically actuated, nose wheel steering system for a commercial aircraft. The drive features two independent motor controllers, each operating onehalf of a dual three-phase motor, resulting in an actuator capable of full performance following an electrical fault. An isolated communications link ...

In this Faults or process failures may drastically change system behaviour leading to performance degradation and instability. The reliability and fault-tolerance of a control system can be achieved through the design of either an active or passive Fault Tolerant Control (FTC) scheme. This paper proposes a new approach to fault compensation for FTC using fault estimation by which the faults act...

This paper studies the problem of fault tolerant control design for time-delayed systems subject to actuator saturation. Delayand fault-range-dependent estimate for the domain of attraction of the origin is presented using the linear matrix inequalities (LMIs) techniques. An illustrative example is exploited to show the effectiveness of the proposed design procedures. & 2012 The Franklin Instit...