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Actuators
Special Issues
Robust, Fault-Tolerant Control Design
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Robust, Fault-Tolerant Control Design

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Precision Actuators".

Deadline for manuscript submissions: closed (15 January 2022) | Viewed by 17204

Special Issue Editors

Prof. Dr. William MacKunis

E-Mail Website
Guest Editor
Department of Physical Sciences, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, USA
Interests: nonlinear control; adaptive and robust control
Dr. Muhammad Rehan

E-Mail Website
Guest Editor
ESG Automotives, MI 48083, USA
Interests: nonlinear and robust control; iterative learning control; state estimation

Special Issue Information

Dear Colleagues,

The pace of development in science and technology has significantly accelerated in recent years, while industrial applications are becoming much larger and more complex. Consequently, it is more common to encounter faults within systems as the complexity and number of components increases. In particular, significant attention must be given to the development of advanced fault-tolerant control design methods, which can ensure high reliability and robustness for industrial processes against unexpected operational anomalies and failures. Among the classes of possible faults, actuator faults are considered to be one of the most critical challenges to be solved, since system performance can be severely deteriorated by improper actuator function. The design of these systems involves advanced techniques including robust nonlinear estimation, adaptive learning-based control, and distributed control. Recently, these advanced techniques have been successfully applied to various types of unmanned aircrafts and autonomous mobile robots. This Special Issue is intended to provide a wide range of readers a copious collection of emerging fault-tolerant control design methods. In this context, it welcomes important contributions from renowned international researchers in a wide range of engineering disciplines.

Prof. Dr. William MacKunis
Dr. Muhammad Rehan
Guest Editors

Manuscript Submission Information

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Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • fault-tolerant control
  • adaptive learning-based control
  • adaptive flight estimation and control
  • distributed control systems
  • intelligent control algorithms
  • model predictive control for aerospace applications

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Published Papers (4 papers)

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Research

21 pages, 14468 KiB  
Article
Fault-Tolerant Control of a Three-Phase Permanent Magnet Synchronous Motor for Lightweight UAV Propellers via Central Point Drive
by Aleksander Suti, Gianpietro Di Rito and Roberto Galatolo
Actuators 2021, 10(10), 253; https://doi.org/10.3390/act10100253 - 29 Sep 2021
Cited by 17 | Viewed by 4039
Abstract
This paper deals with the development and the performance characterization of a novel Fault-Tolerant Control (FTC) aiming to the diagnosis and accommodation of electrical faults in a three-phase Permanent Magnet Synchronous Motor (PMSM) employed for the propulsion of a modern lightweight fixed-wing UAV. [...] Read more.
This paper deals with the development and the performance characterization of a novel Fault-Tolerant Control (FTC) aiming to the diagnosis and accommodation of electrical faults in a three-phase Permanent Magnet Synchronous Motor (PMSM) employed for the propulsion of a modern lightweight fixed-wing UAV. To implement the fault-tolerant capabilities, a four-leg inverter is used to drive the reference PMSM, so that a system reconfiguration can be applied in case of a motor phase fault or an inverter fault, by enabling the control of the central point of the three-phase connection. A crucial design point is to develop Fault-Detection and Isolation (FDI) algorithms capable of minimizing the system failure transients, which are typically characterized by high-amplitude high-frequency torque ripples. The proposed FTC is composed of two sections: in the first, a deterministic model-based FDI algorithm is used, based the evaluation of the current phasor trajectory in the Clarke’s plane; in the second, a novel technique for fault accommodation is implemented by applying a reference frame transformation to post-fault commands. The FTC effectiveness is assessed via detailed nonlinear simulation (including sensors errors, digital signal processing, mechanical transmission compliance, propeller loads and electrical faults model), by characterizing the FDI latency and the post-fault system performances when open circuit faults are injected. Compared with reports in the literature, the proposed FTC demonstrates relevant potentialities: the FDI section of the algorithm provides the smallest ratio between latency and monitoring samples per electrical period, while the accommodation section succeeds in both eliminating post-fault torque ripples and maintaining the mechanical power output with negligible efficiency degradation. Full article
(This article belongs to the Special Issue Robust, Fault-Tolerant Control Design)
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23 pages, 10388 KiB  
Article
Adaptive Fuzzy Active-Disturbance Rejection Control-Based Reconfiguration Controller Design for Aircraft Anti-Skid Braking System
by Zhao Zhang, Zhong Yang, Guoxing Zhou, Shuchang Liu, Dongsheng Zhou, Shuang Chen and Xiaokai Zhang
Actuators 2021, 10(8), 201; https://doi.org/10.3390/act10080201 - 22 Aug 2021
Cited by 12 | Viewed by 3699
Abstract
The aircraft anti-skid braking system (AABS) is an essential aero electromechanical system to ensure safe take-off, landing, and taxiing of aircraft. In addition to the strong nonlinearity, strong coupling, and time-varying parameters in aircraft dynamics, the faults of actuators, sensors, and other components [...] Read more.
The aircraft anti-skid braking system (AABS) is an essential aero electromechanical system to ensure safe take-off, landing, and taxiing of aircraft. In addition to the strong nonlinearity, strong coupling, and time-varying parameters in aircraft dynamics, the faults of actuators, sensors, and other components can also seriously affect the safety and reliability of AABS. In this paper, a reconfiguration controller-based adaptive fuzzy active-disturbance rejection control (AFADRC) is proposed for AABS to meet increased performance demands in fault-perturbed conditions as well as those concerning reliability and safety requirements. The developed controller takes component faults, external disturbance, and measurement noise as the total perturbations, which are estimated by an adaptive extended state observer (AESO). The nonlinear state error feedback (NLSEF) combined with fuzzy logic can compensate for the adverse effects and ensure that the faulty AABS maintains acceptable performance. Numerical simulations are carried out in different runway environments. The results validate the robustness and reconfiguration control capability of the proposed method, which improves AABS safety as well as braking efficiency. Full article
(This article belongs to the Special Issue Robust, Fault-Tolerant Control Design)
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21 pages, 500 KiB  
Article
H∞ Reliable Dynamic Output-Feedback Controller Design for Discrete-Time Singular Systems with Sensor Saturation
by Mourad Kchaou, Houssem Jerbi, Naim Ben Ali and Haitham Alsaif
Actuators 2021, 10(8), 196; https://doi.org/10.3390/act10080196 - 13 Aug 2021
Cited by 5 | Viewed by 2756
Abstract
In this study, we investigate the H∞ fault-tolerant control problem for a discrete-time singular system which is subject to external disturbances, actuator faults, and sensor saturation. By assuming that the state variable of the system is unavailable for measurement, and the actuator [...] Read more.
In this study, we investigate the H∞ fault-tolerant control problem for a discrete-time singular system which is subject to external disturbances, actuator faults, and sensor saturation. By assuming that the state variable of the system is unavailable for measurement, and the actuator fault can be described by a Markovian jump process, attention is mainly focused on designing a reliable dynamic output-feedback (DOF) controller able to compensate for the effects of the aforementioned factors on the system stability and performance. Based on the sector non-linear approach to handle the sensor saturation, a new criterion is established to ensure that the closed-loop system is stochastically admissible with a γ level of the H∞ disturbance rejection performance. The main aim of this work is to develop a procedure for synthesizing the controller gains without any model transformation or decomposition of the output matrix. Therefore, by introducing a slack variable, the H∞ admissibility criterion is successfully transformed in terms of strict linear matrix inequalities (LMIs). Three practical examples are exploited to test the feasibility and effectiveness of the proposed approach. Full article
(This article belongs to the Special Issue Robust, Fault-Tolerant Control Design)
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24 pages, 2935 KiB  
Article
Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs
by Nihal Dalwadi, Dipankar Deb, Mangal Kothari and Stepan Ozana
Actuators 2021, 10(6), 119; https://doi.org/10.3390/act10060119 - 3 Jun 2021
Cited by 23 | Viewed by 4345
Abstract
The application scope of unmanned aerial vehicles (UAVs) is increasing along with commensurate advancements in performance. The hybrid quadrotor vertical takeoff and landing (VTOL) UAV has the benefits of both rotary-wing aircraft and fixed-wing aircraft. However, the vehicle requires a robust controller for [...] Read more.
The application scope of unmanned aerial vehicles (UAVs) is increasing along with commensurate advancements in performance. The hybrid quadrotor vertical takeoff and landing (VTOL) UAV has the benefits of both rotary-wing aircraft and fixed-wing aircraft. However, the vehicle requires a robust controller for takeoff, landing, transition, and hovering modes because the aerodynamic parameters differ in those modes. We consider a nonlinear observer-based backstepping controller in the control design and provide stability analysis for handling parameter variations and external disturbances. We carry out simulations in MATLAB Simulink which show that the nonlinear observer contributes more to robustness and overall closed-loop stability, considering external disturbances in takeoff, hovering and landing phases. The backstepping controller is capable of decent trajectory-tracking during the transition from hovering to level flight and vice versa with nominal altitude drop. Full article
(This article belongs to the Special Issue Robust, Fault-Tolerant Control Design)
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