A fault-tolerant control strategy for non-linear discrete-time systems: application to the twin-rotor system

Abstract

AbstractIn this paper, an active fault-tolerant control scheme is proposed in the case of actuator faults. In particular, the general idea of integrating fault identification and control schemes, which takes into account the fault estimation error is first presented in a linear context. As a result, the so-called separation principle for the controller and the fault identification scheme is developed. Subsequently, the proposed approach is extended to a class of non-linear systems. Similarly to the linear case, it is proven that using a suitable control strategy and a faulty identification scheme it is possible to obtain an integrated fault-tolerant control framework, which takes into account the fault identification error. As a result, a non-linear counterpart of the above-mentioned separation principle is developed. Finally, the last part of the paper shows the application results obtained using a twin-rotor system that confirm the high performance of the proposed approach.Keywords: fault-tolerant controlfault diagnosisnon-linear systemsfault identificationobservers AcknowledgementsThe work was financed as a research project with the science funds for years 2011–2014 with the kind support of the National Science Centre in Poland under the grant NN514678440 Predictive fault-tolerant control for non-linear systems. This work was also partially grant-funded by CICYT SHERECS DPI-2011-26243 and CICYT WATMAN DPI-2009-13744 of the Spanish Ministry of Education and by i-Sense grant FP7-ICT-2009-6-270428 of the European Commission.Noteshttp://www.feedback-group.com/product/twin-rotor-mimo- 6056