Authors

Luca Gentili, Andrea Paoli, Claudio Bonivento

Abstract

In this paper an internal model based approach to implicit Fault Tolerant Control for port-Hamiltonian systems is presented: the main idea is to cast the problem into a regulation problem in presence of input disturbances representing exogenous effects of possible faults; this can be solved following an adaptive internal model based approach. The theoretical machinery exploited is specialized for the energy-based port-Hamiltonian formalism in order to prove the global asymptotical stability of the solution. Finally an application example is presented in order to deeply point out the effectiveness of the design procedure presented: a Fault Tolerant Control problem is solved for a magnetic levitation system affected by periodic voltage disturbances.

Keywords

Internal Model; Global Asymptotical Stability; Control System Technology; Exogenous Disturbance; Sylvester Equation

Citation

BibTeX

@inbook{Gentili,
  title={{An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems}},
  ISBN={9783540738893},
  DOI={10.1007/978-3-540-73890-9_13},
  booktitle={{Lagrangian and Hamiltonian Methods for Nonlinear Control 2006}},
  publisher={Springer Berlin Heidelberg},
  author={Gentili, Luca and Paoli, Andrea and Bonivento, Claudio},
  pages={171--182}
}

Download the bib file

References

  • Astolfi, A., Isidori, A. & Marconi, L. A Note on Disturbance Suppression for Hamiltonian Systems by State Feedback. IFAC Proceedings Volumes vol. 36 211–216 (2003) – 10.1016/s1474-6670(17)38893-6
  • Blanke, M., Kinnaert, M., Lunze, J. & Staroswiecki, M. Diagnosis and Fault-Tolerant Control. (Springer Berlin Heidelberg, 2003). doi:10.1007/978-3-662-05344-7 – 10.1007/978-3-662-05344-7
  • Bonivento, C., Gentili, L. & Paoli, A. Internal model based fault tolerant control of a robot manipulator. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 5260-5265 Vol.5 (2004) doi:10.1109/cdc.2004.1429643 – 10.1109/cdc.2004.1429643
  • Bonivento, C., Isidori, A., Marconi, L. & Paoli, A. Implicit fault-tolerant control: application to induction motors. Automatica vol. 40 355–371 (2004) – 10.1016/j.automatica.2003.10.003
  • Byrnes, C. I., Priscoli, F. D. & Isidori, A. Output Regulation of Uncertain Nonlinear Systems. Systems & Control: Foundations & Applications (Birkhäuser Boston, 1997). doi:10.1007/978-1-4612-2020-6 – 10.1007/978-1-4612-2020-6
  • de Wit, C. C. & Praly, L. Adaptive eccentricity compensation. IEEE Transactions on Control Systems Technology vol. 8 757–766 (2000) – 10.1109/87.865849
  • Frank, P. M. Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy. Automatica vol. 26 459–474 (1990) – 10.1016/0005-1098(90)90018-d
  • Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica vol. 39 2059–2069 (2003) – 10.1016/j.automatica.2003.07.005
  • Gentili, L. & van der Schaft, A. Regulation and Input Disturbance Suppression for Port-Controlled Hamiltonian Systems 1. IFAC Proceedings Volumes vol. 36 205–210 (2003) – 10.1016/s1474-6670(17)38892-4
  • Isidori, A. Nonlinear Control Systems. Communications and Control Engineering (Springer London, 1995). doi:10.1007/978-1-84628-615-5 – 10.1007/978-1-84628-615-5
  • Isidori, A., Marconi, L. & Serrani, A. Robust Autonomous Guidance. Advances in Industrial Control (Springer London, 2003). doi:10.1007/978-1-4471-0011-9 – 10.1007/978-1-4471-0011-9
  • Maschke, B. M. & van der Schaft, A. J. Port-Controlled Hamiltonian Systems: Modelling Origins and Systemtheoretic Properties. IFAC Proceedings Volumes vol. 25 359–365 (1992) – 10.1016/s1474-6670(17)52308-3
  • Nikiforov, V. O. Adaptive Non-linear Tracking with Complete Compensation of Unknown Disturbances. European Journal of Control vol. 4 132–139 (1998) – 10.1016/s0947-3580(98)70107-4
  • Ortega R (2003) Some applications and recent results on passivity based control. 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Seville, Spain
  • Issues of Fault Diagnosis for Dynamic Systems. (Springer London, 2000). doi:10.1007/978-1-4471-3644-6 – 10.1007/978-1-4471-3644-6
  • Serrani, A., Isidori, A. & Marconi, L. Semi-global nonlinear output regulation with adaptive internal model. IEEE Transactions on Automatic Control vol. 46 1178–1194 (2001) – 10.1109/9.940923
  • A. Schaft van der. van der Schaft A (1999) L 2-gain and Passivity Techniques in Nonlinear Control. Springer-Verlag, London (1999)
  • C. Bonivento. Bonivento C, Gentili L, Paoli A (2005) Fault tolerant tracking of a robot manipulator: an internal model based approach. Current Trends in Nolinear Systems and Control, Birkhäuser, Boston: 271–287 (2005)
  • Bonivento, C., Gentili, L. & Marconi, L. Balanced robust regulation of a magnetic levitation system. IEEE Transactions on Control Systems Technology vol. 13 1036–1044 (2005) – 10.1109/tcst.2005.852107
  • Alleyne, A. & Pomykalski, M. Control of a class of nonlinear systems subject to periodic exogenous signals. IEEE Transactions on Control Systems Technology vol. 8 279–287 (2000) – 10.1109/87.826799
  • Charara, A., De Miras, J. & Caron, B. Nonlinear control of a magnetic levitation system without premagnetization. IEEE Transactions on Control Systems Technology vol. 4 513–523 (1996) – 10.1109/87.531918
  • Marino, R., Santosuosso, G. L. & Tomei, P. Robust adaptive compensation of biased sinusoidal disturbances with unknown frequency. Automatica vol. 39 1755–1761 (2003) – 10.1016/s0005-1098(03)00170-5
  • Bodson, M. & Douglas, S. C. Adaptive algorithms for the rejection of sinusoidal disturbances with unknown frequency. Automatica vol. 33 2213–2221 (1997) – 10.1016/s0005-1098(97)00149-0
  • Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica vol. 38 585–596 (2002) – 10.1016/s0005-1098(01)00278-3
  • Gentili, L. & Marconi, L. Robust nonlinear disturbance suppression of a magnetic levitation system. Automatica vol. 39 735–742 (2003) – 10.1016/s0005-1098(02)00307-2