Adaptive Robust Fault-Tolerant Regulation of Mechatronic Systems with Prescribed-Time Convergence

Lichao Sun; Nan Ma; Bo Xiao; Yanpei Huang; Haolin Fei; Eric Yeatman

doi:10.1016/j.ifacol.2023.10.1513

Adaptive Robust Fault-Tolerant Regulation of Mechatronic Systems with Prescribed-Time Convergence

Lichao Sun^*, Nan Ma, Bo Xiao, Yanpei Huang, Haolin Fei, Eric Yeatman

^*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

In this paper, we propose a synchronized prescribed-time control strategy for a class of nonlinear mechatronic systems with external disturbance, actuation saturation, and actuator faults, which features simultaneous translational and rotational motion tracking in the same prescribed time. Dual quaternion is employed to model the coupling effect between translational and rotational motions, which provides a unified representation for describing multiple degree-of-freedom motions. In addition, online adaptive technology is incorporated for real-time monitoring and separation of actuator failure information. The adaptive capability of the controller to parameter perturbation, disturbance, and fault deviation is therefore enhanced. Furthermore, the closed-loop system is featured by L₂ gain stability/robustness against thrust output deviation, while the system trajectory is guaranteed to converge with user-defined settling time. Finally, numerical simulations on a microsatellite platform with redundant thrusters are performed to verify the effectiveness of the proposed fault-tolerant control approach.

Original language	English
Title of host publication	IFAC-PapersOnLine
Editors	Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
Publisher	Elsevier B.V.
Pages	3552-3557
Number of pages	6
Edition	2
ISBN (Electronic)	9781713872344
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.1513
Publication status	Published - 1 Jul 2023
Externally published	Yes
Event	22nd IFAC World Congress - Yokohama, Japan Duration: 9 Jul 2023 → 14 Jul 2023

Publication series

Name	IFAC-PapersOnLine
Number	2
Volume	56
ISSN (Electronic)	2405-8963

Conference

Conference	22nd IFAC World Congress
Country/Territory	Japan
City	Yokohama
Period	9/07/23 → 14/07/23

Keywords

Actuator saturation
Dual quaternion
Fault-tolerant control
gain gain
Robustness

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10.1016/j.ifacol.2023.10.1513

Cite this

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title = "Adaptive Robust Fault-Tolerant Regulation of Mechatronic Systems with Prescribed-Time Convergence",

abstract = "In this paper, we propose a synchronized prescribed-time control strategy for a class of nonlinear mechatronic systems with external disturbance, actuation saturation, and actuator faults, which features simultaneous translational and rotational motion tracking in the same prescribed time. Dual quaternion is employed to model the coupling effect between translational and rotational motions, which provides a unified representation for describing multiple degree-of-freedom motions. In addition, online adaptive technology is incorporated for real-time monitoring and separation of actuator failure information. The adaptive capability of the controller to parameter perturbation, disturbance, and fault deviation is therefore enhanced. Furthermore, the closed-loop system is featured by L2 gain stability/robustness against thrust output deviation, while the system trajectory is guaranteed to converge with user-defined settling time. Finally, numerical simulations on a microsatellite platform with redundant thrusters are performed to verify the effectiveness of the proposed fault-tolerant control approach.",

keywords = "Actuator saturation, Dual quaternion, Fault-tolerant control, gain gain, Robustness",

author = "Lichao Sun and Nan Ma and Bo Xiao and Yanpei Huang and Haolin Fei and Eric Yeatman",

note = "Publisher Copyright: Copyright {\textcopyright} 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/); 22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023",

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doi = "10.1016/j.ifacol.2023.10.1513",

language = "English",

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Sun, L, Ma, N, Xiao, B, Huang, Y, Fei, H & Yeatman, E 2023, Adaptive Robust Fault-Tolerant Regulation of Mechatronic Systems with Prescribed-Time Convergence. in H Ishii, Y Ebihara, J Imura & M Yamakita (eds), IFAC-PapersOnLine. 2 edn, IFAC-PapersOnLine, no. 2, vol. 56, Elsevier B.V., pp. 3552-3557, 22nd IFAC World Congress, Yokohama, Japan, 9/07/23. https://doi.org/10.1016/j.ifacol.2023.10.1513

Adaptive Robust Fault-Tolerant Regulation of Mechatronic Systems with Prescribed-Time Convergence. / Sun, Lichao; Ma, Nan; Xiao, Bo et al.
IFAC-PapersOnLine. ed. / Hideaki Ishii; Yoshio Ebihara; Jun-ichi Imura; Masaki Yamakita. 2. ed. Elsevier B.V., 2023. p. 3552-3557 (IFAC-PapersOnLine; Vol. 56, No. 2).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

TY - GEN

T1 - Adaptive Robust Fault-Tolerant Regulation of Mechatronic Systems with Prescribed-Time Convergence

AU - Sun, Lichao

AU - Ma, Nan

AU - Xiao, Bo

AU - Huang, Yanpei

AU - Fei, Haolin

AU - Yeatman, Eric

PY - 2023/7/1

Y1 - 2023/7/1

N2 - In this paper, we propose a synchronized prescribed-time control strategy for a class of nonlinear mechatronic systems with external disturbance, actuation saturation, and actuator faults, which features simultaneous translational and rotational motion tracking in the same prescribed time. Dual quaternion is employed to model the coupling effect between translational and rotational motions, which provides a unified representation for describing multiple degree-of-freedom motions. In addition, online adaptive technology is incorporated for real-time monitoring and separation of actuator failure information. The adaptive capability of the controller to parameter perturbation, disturbance, and fault deviation is therefore enhanced. Furthermore, the closed-loop system is featured by L2 gain stability/robustness against thrust output deviation, while the system trajectory is guaranteed to converge with user-defined settling time. Finally, numerical simulations on a microsatellite platform with redundant thrusters are performed to verify the effectiveness of the proposed fault-tolerant control approach.

AB - In this paper, we propose a synchronized prescribed-time control strategy for a class of nonlinear mechatronic systems with external disturbance, actuation saturation, and actuator faults, which features simultaneous translational and rotational motion tracking in the same prescribed time. Dual quaternion is employed to model the coupling effect between translational and rotational motions, which provides a unified representation for describing multiple degree-of-freedom motions. In addition, online adaptive technology is incorporated for real-time monitoring and separation of actuator failure information. The adaptive capability of the controller to parameter perturbation, disturbance, and fault deviation is therefore enhanced. Furthermore, the closed-loop system is featured by L2 gain stability/robustness against thrust output deviation, while the system trajectory is guaranteed to converge with user-defined settling time. Finally, numerical simulations on a microsatellite platform with redundant thrusters are performed to verify the effectiveness of the proposed fault-tolerant control approach.

KW - Actuator saturation

KW - Dual quaternion

KW - Fault-tolerant control

KW - gain gain

KW - Robustness

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A2 - Imura, Jun-ichi

A2 - Yamakita, Masaki

PB - Elsevier B.V.

T2 - 22nd IFAC World Congress

Y2 - 9 July 2023 through 14 July 2023

ER -

Adaptive Robust Fault-Tolerant Regulation of Mechatronic Systems with Prescribed-Time Convergence

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Keywords

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