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Flatness-based fault tolerant control of a nonlinear MIMO system using algebraic derivative estimation

Philipp Mai 1 Cédric Join 2, 3 Johan Reger 4
3 ALIEN - Algebra for Digital Identification and Estimation
Inria Lille - Nord Europe, Inria Saclay - Ile de France, Ecole Centrale de Lille, X - École polytechnique, CNRS - Centre National de la Recherche Scientifique : UMR8146
Abstract : A flatness-based approach to fault tolerant control is proposed. The approach uses the recently published algebraic derivative estimation method for the estimation of those output derivatives that are necessary for determining intermittent actuator faults. The rapid performance of the estimation allows for an accommodation of the control to the fault. Additionally, taking into account the control saturations a novel classification scheme for actuator faults is introduced that exhibits a comprehensible graphical representation in terms of reachable sets. Dependent on the respective class of fault, an online adaptation of the reference trajectory is carried out. The ideas are demonstrated on a nonlinear MIMO system, which corresponds to an underactuated rigid body.
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https://hal.inria.fr/inria-00159308
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Submitted on : Monday, July 2, 2007 - 4:56:43 PM
Last modification on : Tuesday, November 24, 2020 - 2:18:20 PM
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Philipp Mai, Cédric Join, Johan Reger. Flatness-based fault tolerant control of a nonlinear MIMO system using algebraic derivative estimation. 3rd IFAC Symposium on System, Structure and Control, SSC'07, Oct 2007, Foz do Iguaçu, Brazil. ⟨inria-00159308⟩

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