International Federation of Automatic Control
3rd IFAC SYMPOSIUM on SYSTEM, STRUCTURE and CONTROL
Foz do Iguassu, Brazil October 17th - 19th, 2007
| International Federation of Automatic Control | |
Session TM2: Non-linear systems IIChair: Hebertt Sira-Ramírez - Mexico Co-chair: Jean Lévine - France Room: Montevideo 2007-10-18 From 10:00 to 12:00 | |
| Flatness-Based Fault Tolerant Control of a Nonlinear MIMO System Using Algebraic Derivative Estimation Philipp Mai; Cédric Join; Johann Reger Contact: Philipp Mai - Germany | |
| 11:00-11:20 | |
| 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. Copyright © 2007 IFAC. | |