Control & Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, College of Engineering, University of Tehran, North Kargar St., P.O. Box 14395/515, Tehran, Iran.
ISA Trans. 2013 May;52(3):351-7. doi: 10.1016/j.isatra.2012.12.008. Epub 2013 Jan 29.
In this paper, a new fault-tolerant control system is proposed for input-affine nonlinear plants based on Model Reference Adaptive System (MRAS) structure. The proposed method has the capability to accommodate both partial and total actuator failures along with bounded external disturbances. In this methodology, the conventional MRAS control law is modified by augmenting two compensating terms. One of these terms is added to eliminate the nonlinear dynamic, while the other is reinforced to compensate the distractive effects of the total actuator faults and external disturbances. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed method. Moreover, the control structure has good robustness capability against the parameter variation. The performance of this scheme is evaluated using a CSTR system and the results were satisfactory.
本文提出了一种基于模型参考自适应系统（MRAS）结构的输入仿射非线性系统的容错控制系统。该方法能够适应部分和全部执行器故障以及有界外部干扰。在该方法中，通过增加两个补偿项来修改传统的 MRAS 控制律。其中一个补偿项用于消除非线性动态，另一个补偿项用于补偿总执行器故障和外部干扰的干扰效应。此外，所提出的方法不需要故障检测和诊断（FDD）单元。此外，该控制结构对参数变化具有良好的鲁棒性。该方案的性能通过 CSTR 系统进行评估，结果令人满意。
