Work

Actuator Fault-Tolerant Control for Mechatronic Systems and Output Regulation with Unknown Reference Signals

Year: 2025

Type: article

Abstract: Today, mechatronic systems are required to operate reliably and safely. However, actuators can fail, causing the system to malfunction or, in the worst case, resulting in an accident. A clear example of this is the motors of unmanned aerial vehicles. If any of them fail, the vehicle loses control, resulting in a catastrophe and potentially leading to the partial or total loss of the system. Therefore, there is a need to design robust control strategies that allow the system to continue operating even with the loss of one of its actuators. Based on the above, this work presents a controller capable of performing output regulation while tolerating actuator faults in actuated robotic platforms. In contrast to traditional output regulation theory, where a known exosystem provides the reference signal, the proposed approach employs a High-Gain Observer (HGO) to estimate and generate the reference signal from an unknown exosystem. Additionally, an Unknown Input (UI) observer is used to estimate actuator faults, enabling the computation of a fault-tolerant control. The methodology is tested in simulation and real-time experiments on the well-known Furuta pendulum system to illustrate the effectiveness of the proposed approach.

Source: Applied Sciences

DOI: 10.3390/app15158551

Authors: Miguel Amador-Macias, Tonatiuh Hernández-Cortés, Víctor Estrada-Manzo, Jaime González-Sierra, Ricardo Tapia-Herrera

Institutions: Universidad Politécnica de Pachuca, Instituto Politécnico Nacional

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funders: Instituto Politécnico Nacional, Universidad Nacional Autónoma de México