A dynamical controller with fault-tolerance: Real-time experiments

• Published in: Journal of the Franklin Institute Vol. 354; no. 8; pp. 3378 - 3404
• Main Authors: Martínez-Guerra, Rafael, Trejo-Zúñiga, Iván, Meléndez-Vázquez, Fidel
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.05.2017; Elsevier Science Ltd
• Subjects: Controllers; Fault diagnosis; Fault tolerance; Model reduction; Noise measurement; Observability (systems); Real time; Tracking errors
• ISSN: 0016-0032; 1879-2693; 0016-0032
• DOI: 10.1016/j.jfranklin.2017.02.038

•A new fault-tolerant dynamical controller is designed from the differential algebraic approach for multi-input multi-output systems which accomplishes output tracking.•Some observers capable of reconstructing multiple faults (additive and multiplicative) simultaneously and online are proposed.•The closed-loop system is proven to be asymptotically stable (without noise) and ultimate uniformly bounded with measurement noise.•A parameter identification by means of algebraic techniques is performed.•A real-time application is performed to show the effectiveness of the proposed method. We propose a dynamical controller that is based on the high-gain and the reduced-order observers, is fault-tolerant and is obtained by means of a multi-input multi-output generalized observability canonical form generated from a differential primitive element. The dynamical controller is able to linearize the tracking errors, achieving ultimate uniform boundedness with measurement noise. To accomplish this, a fault diagnosis is required, involving additive and multiplicative faults, which have to be reconstructed simultaneously and online. Some real-time results are presented to illustrate the effectiveness of the proposed methodology.