Title :
Cooperative actuators for fault tolerant model-reference sliding mode control
Author :
Vilela Soares da Cunha, J.P. ; Costa, Ramon R. ; Hsu, Liu
Author_Institution :
Univ. Fed. do Rio de Janeiro, Brazil
Abstract :
This paper considers the application of a model-reference sliding mode controller to a chain of m trailers driven by m + 1 actuators. The control objective is to force each driven trailer to track a reference velocity trajectory. The closed-loop system is shown to be globally exponentially stable. Moreover, the performance is insensitive to actuator faults, to bounded unmatched disturbances and also to parameter uncertainties. The strategy is based on multivariable output feedback unit vector control.
Keywords :
closed loop systems; electric actuators; fault tolerance; feedback; model reference adaptive control systems; variable structure systems; closed-loop system; cooperative actuators; fault tolerant control; model-reference sliding mode controller; output feedback unit vector control; reference velocity trajectory; trailers; Actuators; Adaptive control; Control systems; Fault detection; Fault tolerance; Force control; Robust control; Sliding mode control; Uncertain systems; Velocity control;
Conference_Titel :
Industrial Electronics, 2003. ISIE '03. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7912-8
DOI :
10.1109/ISIE.2003.1267903
