A hybrid robust fault tolerant control based on adaptive joint unscented Kalman filter

详细信息    查看全文

• 作者：Yashar Shabbouei Hagh^a ; ^{y.shabbouei92@ms.tabrizu.ac.ir} ; Reza Mohammadi Asl^a ; ^{r.mohammadi92@ms.tabrizu.ac.ir} ; Vincent Cocquempot^b ; ^{vincent.cocquempot@univ-lille1.fr}
• 关键词：Non-singular terminal sliding mode control ; Fault tolerant control ; Adaptive joint unscented Kalman filter ; Fault detection and diagnosis ; Fuzzy logic based switching system ; H&infin ; H&infin ; robust controller
• 刊名：ISA Transactions
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：66
• 期：Complete
• 页码：262-274
• 全文大小：3939 K
• 卷排序：66

文摘

A hybrid fault tolerant control scheme is proposed. A new adaptive joint unscented Kalman filter is introduced. The scheme is a combination of a robust H∞H∞ controller and Non-Singular Terminal Sliding Mode control. The proposed method is based on the simultaneous estimation of the system states and parameters. In order to show the efficiency of the proposed scheme, a simulated 3-DOF robotic manipulator is used.