Active fault-tolerant control for the dual-valve hydraulic system with unknown dead-zone

• Published in: ISA transactions Vol. 145; pp. 399 - 411
• Main Authors: Wang, Tianzhu, Zhang, Qiang, Fang, Jinhui, Lai, Zhenyu, Feng, Ruilin, Wei, Jianhua
• Format: Journal Article
• Language: English
• Published: United States Elsevier Ltd 01.02.2024
• Subjects: Active fault-tolerant control; Adaptive robust control; Dead-zone compensation; Dual-valve hydraulic system; Nonlinear disturbance observer; Dual-valve hydraulic system; Dead-zone compensation; Active fault-tolerant control; Adaptive robust control; Nonlinear disturbance observer
• ISSN: 0019-0578; 1879-2022; 1879-2022
• DOI: 10.1016/j.isatra.2023.11.038

This paper proposes a method for high-performance motion control of the dual-valve hydraulic system subject to parameter and model uncertainties, unknown proportional valve dead-zone, and servo valve fault. By constructing a detailed dual-valve fault system model (DFSM), a disturbance observer-based adaptive robust fault-tolerant controller is proposed via the backstepping method. This controller integrates a model-based fault detection algorithm for real-time fault monitoring and subsequent controller reconfiguration. Additionally, the DFSM-based adaptive robust control (ARC) technique is applied to handle the unknown dead-zone problem and other nonlinearities, ensuring precise control. Once the servo valve fault occurs, a nonlinear observer estimates the fault and collaborates with the ARC to establish a reconfigured controller, thereby maintaining motion control. The effectiveness of the proposed method has been experimentally verified. •The novel fault-tolerant control algorithm for dual-valve hydraulic system is investigated.•The novel dual-valve faults system model is proposed.•The model-based fault detection algorithm and nonlinear disturbance observer are established.•The advanced adaptive robust fault-tolerant controller is designed.