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

Research output: Contribution to Journal/Magazine › Conference article › peer-review

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Adaptive Robust Fault-Tolerant Regulation of Mechatronic Systems with Prescribed-Time Convergence. / Sun, Lichao; Ma, Nan; Xiao, Bo et al.
In: IFAC-PapersOnLine, Vol. 56, No. 2, 31.12.2023, p. 3552-3557.

Research output: Contribution to Journal/Magazine › Conference article › peer-review

Harvard

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', IFAC-PapersOnLine, vol. 56, no. 2, pp. 3552-3557. https://doi.org/10.1016/j.ifacol.2023.10.1513

APA

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. IFAC-PapersOnLine, 56(2), 3552-3557. https://doi.org/10.1016/j.ifacol.2023.10.1513

Vancouver

Sun L, Ma N, Xiao B, Huang Y, Fei H, Yeatman E. Adaptive Robust Fault-Tolerant Regulation of Mechatronic Systems with Prescribed-Time Convergence. IFAC-PapersOnLine. 2023 Dec 31;56(2):3552-3557. Epub 2023 Nov 22. doi: 10.1016/j.ifacol.2023.10.1513

Author

Sun, Lichao ; Ma, Nan ; Xiao, Bo et al. / Adaptive Robust Fault-Tolerant Regulation of Mechatronic Systems with Prescribed-Time Convergence. In: IFAC-PapersOnLine. 2023 ; Vol. 56, No. 2. pp. 3552-3557.

Bibtex

@article{e14bba8fba61407da82a4052ac98d841,
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 = "Dual quaternion, Fault-tolerant control, Actuator saturation, Robustness, L2 gain",
author = "Lichao Sun and Nan Ma and Bo Xiao and Yanpei Huang and Haolin Fei and Eric Yeatman",
year = "2023",
month = dec,
day = "31",
doi = "10.1016/j.ifacol.2023.10.1513",
language = "English",
volume = "56",
pages = "3552--3557",
journal = "IFAC-PapersOnLine",
issn = "2405-8963",
publisher = "IFAC Secretariat",
number = "2",

}

RIS

TY - JOUR

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 - 2023/12/31

Y1 - 2023/12/31

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 - Dual quaternion

KW - Fault-tolerant control

KW - Actuator saturation

KW - Robustness

KW - L2 gain

U2 - 10.1016/j.ifacol.2023.10.1513

DO - 10.1016/j.ifacol.2023.10.1513

M3 - Conference article

VL - 56

SP - 3552

EP - 3557

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 2

ER -