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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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Active Complementary Control for Affine Nonlinear Control Systems With Actuator Faults.

Quan-Yong Fan, Guang-Hong Yang

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    Summary
    This summary is machine-generated.

    This study presents an active complementary control for nonlinear systems facing actuator faults. It uses adaptive dynamic programming for online fault estimation and control, ensuring system stability without probing signals.

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    Area of Science:

    • Control Systems Engineering
    • Nonlinear Control Theory
    • Fault-Tolerant Control Systems

    Background:

    • Affine nonlinear control systems are susceptible to actuator faults, such as outage or loss of effectiveness, compromising system performance and stability.
    • Existing adaptive dynamic programming (ADP) methods often require probing signals, limiting their online implementation feasibility.
    • Effective fault estimation and compensation are crucial for maintaining control system integrity under fault conditions.

    Purpose of the Study:

    • To design an active complementary control strategy for affine nonlinear systems with actuator faults.
    • To develop a novel fault estimation scheme for accurate detection and quantification of actuator failures.
    • To achieve near-optimal online complementary control using adaptive dynamic programming (ADP) without relying on probing signals.

    Main Methods:

    • A two-step complementary control design approach is proposed.
    • A novel fault estimation scheme is developed to identify actuator fault parameters.
    • Adaptive dynamic programming (ADP) is employed for online complementary control synthesis, utilizing fault estimations and a cost function.
    • New adaptive weight update laws are derived for neural networks to ensure convergence and closed-loop stability.

    Main Results:

    • The proposed fault estimation scheme accurately estimates actuator fault conditions.
    • The online complementary control, based on ADP and fault estimations, effectively compensates for actuator faults.
    • The derived adaptive weight update laws guarantee neural network weight convergence and overall closed-loop system stability.
    • Simulation examples demonstrate the superior performance and effectiveness of the proposed fault-tolerant control method.

    Conclusions:

    • The developed active complementary control strategy effectively addresses actuator faults in affine nonlinear systems.
    • The novel fault estimation and ADP-based online control approach enhances system performance and robustness.
    • The method's ability to guarantee stability and online implementation without probing signals represents a significant advancement in fault-tolerant control.