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Paper details
Number 2 - June 2023
Volume 33 - 2023
An efficient fault tolerant control scheme for Euler–Lagrange systems
Ivon E. Leal-Leal, Efrain Alcorta-Garcia
Abstract
Every closed-loop system holds a level of fault tolerance, which could be increased by using a fault tolerant control (FTC)
scheme. In this paper, an efficient FTC scheme for a class of nonlinear systems (Euler–Lagrange ones) is proposed, which
guarantees high performance and stability in a faulty system. This scheme was designed on the basis of a cascade control
structure in which the inner loop is the closed-loop system and the external loop is the FTC, a generalized proportional
integral (GPI) observer-based controller, which manages the fault tolerance level increment. An important issue of the
proposed scheme is that the GPI observer-based controller jointly estimates disturbances and faults, providing information
about the state of health of the system, and then compensates their effect. The scheme is efficient because only the inertia
matrix is required for the controller design, it is able to preserve the nominal control law unchanged and can operate properly
without explicit information about system faults (fault diagnostic module). Simulation results, on a pendulum model, show
the effectiveness of the proposed scheme for tracking control.
Keywords
cascade structure, Euler–Lagrange systems, FTC scheme, GPI observer-based controller