• International Journal of Aeronautical and Space Sciences
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• v.17 no.1
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• pp.54-63
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• 2016

A novel attitude tacking control method using Time Delay Control (TDC) scheme is developed to provide robust controllability of a rigid hexacopter in case of single or multiple rotor faults. When the TDC scheme is developed, the rotor faults such as the abrupt and/or incipient rotor faults are considered as model uncertainties. The kinematics, modeling of rigid dynamics of hexacopter, and design of stability and controllability augmentation system (SCAS) are addressed rigorously in this paper. In order to compare the developed control scheme to a conventional control method, a nonlinear numerical simulation has been performed and the attitude tracking performance has been compared between the two methods considering the single and multiple rotor faults cases. The developed control scheme shows superior stability and robust controllability of a hexacopter that is subjected to one or multiple rotor faults and external disturbance, i.e., wind shear, gust, and turbulence.

• Journal of Electrical Engineering and Technology
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• v.13 no.6
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• pp.2504-2510
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• 2018

Actuator failures and the failures of controlled objects are often considered together. To overcome this limitation, a class of sliding mode observers for the fault diagnosis of nonlinear systems is designed in this paper. Due to the influence of the sliding mode function, the control strategy and the residual change of the observer exhibit certain trends governed by specific relations. Therefore, according to the changes in the control strategy and the observer residuals, the sensor and actuator faults in nonlinear systems can be determined. Finally, the effectiveness of the proposed method is verified based on simulations of a DC motor system.

• Journal of Electrical Engineering and Technology
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• v.9 no.4
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• pp.1401-1410
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• 2014

This paper presents a modified adaptive fading EKF (AFEKF) for sensor fault detection and isolation in the satellite. Also, the fault detection and isolation (FDI) scheme is developed in three phases. In the first phase, the AFEKF is modified to increase sensor fault detection performance. The sensor fault detection and sensor selection method are proposed. In the second phase, the IMM filer with scalar penalty is designed to detect wherever actuator faults occur. In the third phase of the FDI scheme, the sub-IMM filter is designed to identify the fault type which is either the total or partial fault. An important feature of the proposed FDI scheme can decrease the number of filters for detecting sensor fault. Also, the proposed scheme can classify fault detection and isolation as well as fault type identification.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.116.1-116
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• 2001

In the near future, drive-by-wire systems will replace mechanical systems of vehicles. Since there would be no mechanical redundancy in the x-by-wire subsystem, it needs to improve the reliability of the system using fault diagnosis of sensors and actuators. This paper proposes a Kalman filter based fault diagnosis method for the vehicle with the drive-by-wire system, which includes steer-by-wire, brake-by-wire and throttle-by-wire systems. We will show that the proposed method is successful in fault detection and isolation for single sensor/actuator faults of the vehicle system.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.643-651
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• 2006

The theory for a novel fault-tolerant 4-active-pole homopolar magnetic bearing is developed. If any one coil of the four coils in the bearing actuator fail, the remaining three coil currents change via an optimal distribution matrix such that the same opposing pole, C-core type, control fluxes as those of the un-failed bearing are produced. The hompolar magnetic bearing thus provides unaltered magnetic forces without any loss of the bearing load capacity even if any one coil suddenly fails. Numerical examples are provided to illustrate the novel fault-tolerant, 4-active pole homopolar magnetic bearings.

• Proceedings of the Korea Institute of Applied Superconductivity and Cryogenics Conference
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• 2003.10a
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• pp.222-225
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• 2003

In this paper the performance of the high speed circuit breaker with fault current detector is described. The operating mechanism of circuit breaker in use is a magnetic actuator and a fault current detector is based on the DSP and A/D converter. The results show that 3-cycle is enough to interrupt the fault current and the more speed up performance is expected with on-going project.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.661-667
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• 2010

This paper presents a failure diagnosis and accommodation strategy which is capable of tolerating faulty actuators of a submersible vehicle. The proposed method is mainly based on a sliding mode control technique. The primary ideas include a performance index to describe the effectiveness of actuators, and a controller reconfiguration strategy using the actuator effectiveness index. The actuator effectiveness proposed in this work is defined as the relationship between the sliding surface and the controlled system behavior. The resulting actuator effectiveness is then used in reconfiguring the controller in order to counteract for the deteriorated control performance in the presence of a faulty actuator. The effectiveness of the proposed method is demonstrated by means of numerical simulations with a submersible vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.107-116
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• 2003

This paper presents a systematic design methodology for fault tolerant controller against a fault in actuators and sensors of linear stochastic systems with uncertainties. The scheme is based on fault detection and diagnosis(isolation and estimation) using a bank of robust two-stage Kalman filters, and accommodation of the actuator fault by eigenstructure assignment and immediate compensation of the sensor's faulty measurement. In order to clarify the fault feature in test statistics of residual, noise reduction method is given by multi-scale discrete wavelet transform. The effectiveness of our approach Is shown via simulations for a VTOL(vertical take-off and landing) aircraft subjected to parameter variations, external disturbances, process and sensor noises.

• Journal of Auto-vehicle Safety Association
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• v.15 no.2
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• pp.13-20
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• 2023

This paper presents a fault tolerant control strategy for Steer-by-Wire (SbW) systems. Among many problems to be solved before commercialization of SbW systems, maintaining reliability and fault tolerance in such systems are the most pressing issues. In most previous studies, dual steering motors are used to achieve actuation redundancy. However, relatively few studies have been conducted to introduce fault tolerant control strategies using rear wheel steering system. In this work, an actuator fault in front wheel steering is compensated by active rear wheel steering. The proposed fault tolerant control algorithm consists of disturbance observer and sliding mode control. The fault tolerant control performance of the proposed approach is validated via computer simulation studies with Carsim vehicle dynamics software and MATLAB/Simulink.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.125.4-125
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• 2001

The problem of recongurable ight control is investigated, focusing on model reference adaptive control(MRAC) through imprecise fault diagnosis. The method integrates the fault detection and isolation(FDI) scheme with the model reference adaptive control, and can be implemented on-line and in real-time. The algorithm can cope with the fast varying parameters. The Simulation results demonstrate the ability of reconguration to maintain the stability and acceptable performance after a failure.