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RISS 인기검색어
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- 저자 : Afef Fekih (검색결과 2 건)
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Seema Mallavalli,Afef Fekih 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.12
This paper develops a fault tolerant control (FTC) approach for quadrotor aerial vehicles under different types of actuator faults. An observer-based fault detection and diagnosis mechanism is devised to estimate the faults. A robust finite-time convergent controller which merges the features of Backstepping, and Integral Nonsingular Fast Terminal Sliding surface is proposed to ensure the finite time stability of the states in nominal conditions and their asymptotic stability in faulty conditions. A control redistribution method is formulated to maintain the quadrotor in flight, in the case of complete actuator failure and lock in place (LIP) faults. The proposed controller was assessed in the presence of loss of actuator effectiveness (LOE) faults, complete damage of one rotor and LIP faults. The obtained results confirmed the ability of the proposed approach to enable the quadrotor to track the commanded trajectory precisely under partial LOE faults and continue tracking with an expected performance degradation under the effect of complete motor failure and LIP faults.
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Saleh Mobayen,Hamede Karami,Afef Fekih 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.4
Achieving accurate and reliable tracking control for nonlinear systems with uncertainties and disturbances is one of the most challenging problems in nonlinear control. In this paper, we propose an adaptive nonsingular integral-type second order terminal sliding mode tracking control for nonlinear systems with uncertainties. First an integral type sliding manifold is defined to ensure finite time tracking convergence. Then an adaptation mechanism is proposed to estimate the unknown uncertainty upper bound. Finally, the adaptive nonsingular integral-type second order terminal sliding mode controller is synthesized without any assumptions about the uncertainties. System stability is proven using the Lyapunov stability theorem. Its performance is assessed using a thruster system and an inverted pendulum. Chattering attenuation, finite time convergence and disturbance mitigation are among the positive features of the proposed approach. Additionally, eliminating the need for the upper bound knowledge resulted in a design that can practically be implemented to a wide range of applications.
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