Control with Sensor Fault Tolerance for an Underactuated Linear Positioning System Using the TFL/LTR Technique

Journal of control, automation and electrical systems

article

Maddalena, Emilio Tanowe¹  Kienitz, Karl Heinz¹ 

[1] Divisão de Engenharia Eletrônica, Insituto Tecnológico de Aeronáutica

关键词: Robust control;    TFL/LTR controllers;    Fault tolerance;    Underactuated systems;   

DOI  :  10.1007/s40313-018-0409-4

学科分类：自动化工程

来源: Springer

【 摘 要 】

In this work, the applicability of a Lyapunov filter-based target feedback loop/loop transfer recovery controller to open-loop unstable plants is investigated on an underactuated linear positioning mechanism. Uncertainties in friction coefficients are taken into account. Lyapunov filter target loops yield robustly stable dynamics and tolerance to abrupt sensor faults, i.e., sensors affected by any attenuation in the interval [0, 1). Experimental results confirm the effectiveness of the proposed solution when compared to alternative control methods.

【 授权许可】

CC BY