Sliding Mode Predictive Active Fault-tolerant Control Method for Discrete Multi-faults System
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Sliding Mode Predictive Active Fault-tolerant Control Method for Discrete Multi-faults System Pu Yang*, Zhangxi Liu, Dejie Li, Zhiqing Zhang, and Zixin Wang Abstract: For discrete systems with sensor and actuator failures, this paper proposes an observer that can estimate both sensor failures and actuator failures and designs a sliding mode predictive fault-tolerant control method based on an improved whale optimization algorithm. First, a proportional-integral observer that can observe actuator fault and sensor fault is designed to estimate the value of faults, which greatly improves the work efficiency. After that, a global sliding mode surface is designed as a prediction model, so that the initial state of the system is located on the sliding mode surface to avoid the instability of the sliding mode approaching the process. The reference trajectory of a power function with uncertainty and disturbance compensation is designed to reduce the bad influence of uncertainty and disturbance on the system and suppress chattering greatly. Meanwhile, in the rolling optimization part, an improved whale optimization algorithm(IWOA) is designed to optimize the control law. Finally, the simulation results on the four-rotor helicopter simulation platform show the practicability and superiority of the algorithm. Keywords: Fault tolerant control, four-rotor helicopter, improved whale optimization algorithm, multiple faults observer, sliding mode prediction method.
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INTRODUCTION
In recent years, the emerging technology theory has promoted the booming development of the quad-rotor helicopter industry. UAV have become more convenient and intelligent, and have been widely used in military and civilian fields [1–3]. Therefore, the research on the control system of quad-rotor helicopter has also become a research hot spot in the control field. More and more researchers focus on designing more efficient and stable control algorithms for quad-rotor helicopters, and have achieved many results [4–6]. However, a quad-rotor helicopter is a typical underactuated system driven by four motors (four control inputs) but with six output states (degrees of freedom). Its stability is weak, and fault or external interference can easily lead to the collapse of the entire system. The actuator and sensor fault has dramatically exacerbated the control difficulties of quad-rotor helicopter systems. To ensure stability under fault conditions, researchers from various countries have conducted a lot of research. At present, fault-tolerant control methods can be divided into two major categories, active fault-tolerant con-
trol, and passive fault-tolerant control. The passive faulttolerant control refers to the design idea of robust control and designs the determined controller to suppress the adverse effect of the fault on the closed-loop system [7–10]. An active fault tolerant control strategy usually requires a fault detection unit (FDD) to obtain fault information and adopt a correspondin
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