Sliding mode based incipient sensor fault-tolerant control for DC servomotor drives

A robust observer-controller structure for sensor fault-tolerant control is proposed for DC servomotor drives. Incipient sensor faults are considered and detected using the Higher Order Sliding Mode (HOSM) observer, followed by a tracking controller which maintains the acceptable drive performance....

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Bibliographic Details
Published in2017 14th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON) pp. 733 - 736
Main Authors Kommuri, Suneel K., Rath, Jagat J., Shafiq, G., Gonuguntla, V., Veluvolu, Kalyana C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2017
Subjects
Delays
Fault detection
Observers
Robot sensing systems
Rotors
Servomotors
Switches
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Summary:A robust observer-controller structure for sensor fault-tolerant control is proposed for DC servomotor drives. Incipient sensor faults are considered and detected using the Higher Order Sliding Mode (HOSM) observer, followed by a tracking controller which maintains the acceptable drive performance. A fractional Integral Terminal Sliding Mode (ITSM) surface with HOSM terms is considered for the speed output tracking control objective. Experimental results on a DC motor-based Industrial Mechatronic Drives Unit (IMDU) with belt-drive inertial load (which exhibits nonlinear friction, torque variations and other disturbances) validate the effectiveness of the proposed approach.
DOI:10.1109/ECTICon.2017.8096343