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Appl. Sci. 2017, 7(9), 875; doi:10.3390/app7090875

A Robust Asynchronous Sampled-Data Control Design for Nonlinear Systems with Actuator Failures

Department of Mathematics, Universitat Politècnica de Catalunya-BarcelonaTech (EEBE), 08034 Barcelona, Spain
These authors contributed equally to this work.
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Received: 3 August 2017 / Revised: 19 August 2017 / Accepted: 25 August 2017 / Published: 26 August 2017
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Abstract

This paper presents a recent self-sampled-data control algorithm applied to nonlinear systems with actuator failures. Our approach uses the linear model of a given nonlinear system, and based on a granted actuator fault observer method, an asynchronous sampled-data fault compensator controller is then formulated. The proposed sampling rule is realized by using an event-detector monitoring signal invention. On this way, the sampled rate is self governed and asynchronous by nature. Hence, our contribution is twofold. Fist, a new auto-generated non-uniform sampled-data mechanism is stated. Second, we grant an event-triggered control law with actuator failure observation and compensation. Our findings are completely supported by employing Lyapunov’s theory. Finally, according to our numerical experiments applied to an undamped torsional pendulum, our design is able to detect a failure in the actuator device and it can stabilize the undamped torsional pendulum system presenting better performance in comparison to its open-loop deployment. View Full-Text
Keywords: robust control; sampled-data systems; event-driven control; actuator failures; fault detection; undamped torsional pendulum robust control; sampled-data systems; event-driven control; actuator failures; fault detection; undamped torsional pendulum
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Acho, L.; Buenestado, P. A Robust Asynchronous Sampled-Data Control Design for Nonlinear Systems with Actuator Failures. Appl. Sci. 2017, 7, 875.

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