Active fault-diagnosis method using adaptive allocator and fault-tolerant adaptive control system design

ROBOMECH Journal

article

Natsuki Kawaguchi¹  Nozomu Araki¹  Takao Sato¹  Masaharu Kuroda¹  Toshihiko Asami¹ 

[1] Graduate School of Engineering, University of Hyogo

关键词: Active fault diagnosis;    Fault-tolerant control;    Adaptive control;    Input redundant systems;    Faulty actuators;   

DOI  :  10.1186/s40648-020-00175-0

学科分类：社会科学、人文和艺术（综合）

来源: Springer

【 摘 要 】

A new approach to the active fault diagnosis (AFD) for input redundant plants is presented in this paper. A test signal which helps the diagnosis is injected to the plant in addition to nominal control input in the AFD typically. One feature of the proposed AFD is adaptive allocation of the test signal. The adaptive allocator which distributes the test signal and injects it to the redundant actuators is introduced in this paper. A fault-diagnosis (FD) system that estimates fault location and its magnitude from adaptive parameter of the adaptive allocator is constructed with a simple neural network (NN) model. Furthermore, a A fault-tolerant adaptive control system which includes the adaptive test signal allocator is designed based on the model reference adaptive control (MRAC) technique. The adaptive laws of the adaptive allocator and controller are derived by using a suitable Lyapunov function. By performing experiments using a two-input redundant plant, we show the effectiveness and applicability of the proposed AFD and MRAC system.

【 授权许可】

CC BY