Search for: fault-tolerant-control
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    Actuator Failure-Tolerant Predictive Control of an All-Thruster Satellite in Coupled Translational and Rotational Motion using Neural Networks

    , Ph.D. Dissertation Sharif University of Technology Tavakoli, Mohammad Mahdi (Author) ; Asadian, Nima (Supervisor)
    In this thesis, the problem of failure-tolerant control of the satellite in coupled orbital and rotational motion is investigated. All of the actuators of the satellite are thrusters and only the failure of the actuators is considered. At first, the equations of coupled relative translational-rotational motion of the satellite are derived. Then, the required specifications of the approapriate control method for the problem is explored with the conclution that the controller must be able to predict the behavior or planning the future trajectory of the satellite. In the next step, model predictive control, which has the required specifications, is used to control the coupled... 

    Fault-Tolerant Attitude Control of Satellite with Thrusters Using μ-synthesis

    , M.Sc. Thesis Sharif University of Technology Taheri, Abdolreza (Author) ; Assadian, Nima (Supervisor)
    In this project, a fault-tolerant attitude control system is developed for thruster-driven satellites. The proposed method has the advantage over current state-of-the-art approaches in that it does not require a fault detection and isolation system. Generalized moments are generated by a robust controller that is designed using mixed sensitivity H_∞ and μ-synthesis by DK-iteration. Moreover, a pulse-width modulation technique with quadratic programming optimization is tuned to map the controller outputs to thruster on-off commands as efficiently as possible. The controller is designed to tolerate up to ±30% perturbations in inertia properties and thrust degradations up to 90% of the nominal... 

    Fault-tolerant Attitude Control of Sattelite Using Neural Networks

    , M.Sc. Thesis Sharif University of Technology Sepehr, Firoozeh (Author) ; Asadian, Nima (Supervisor)
    This research aims to introduce a new integrated fault tolerant attitude control system of satellites based on the neural networks. First, a linear controller and an optimal controller are designed assuming that no fault occurs in the reaction wheels of the satellite. It is obvious that these controllers are not able to respond properly when a fault occurs. Therefore, artificial neural networks are employed in the fault tolerant controller design. Neural networks are well-known for their adaptiveness and the ability to learn the dynamics of a system. Therefore, they can be used to predict the faulty conditions. In this research two approaches are examined to deal with the faulty conditions.... 

    Fault Tolerant Model Predictive Control of Tethered Satellite System

    , M.Sc. Thesis Sharif University of Technology Ramezani, Mahya (Author) ; Asadian, Nima (Supervisor)
    In this thesis, a control method to cope with the fault in the two-satellite two-tether satellite systems has been proposed to avoid failing the mission in the case one tether is torn. A new model for the tethered satellite system with two tethers has been developed to show the effects of tethers’ tension forces in the attitude dynamics. One of the main features of this model is the ability of changing the tethers’ connection points to the co-satellite for attitude control purposes. As a result, tethers’ tension forces are used as control actions to reduce the fuel consumption. The introduced coupled tethered satellite system has been controlled using the model predictive control method.... 

    Post-Fault Control of Fault-Tolerant Multi Module Converters

    , M.Sc. Thesis Sharif University of Technology Kazemi, Hossein (Author) ; Zolghadri, Mohammad Reza (Supervisor)
    Nowadays, multilevel converters are significantly developed in industrial applications as well as energy transmission systems regarding proper quality of output waveforms and fault tolerant operation ability. Among the different topologies of multilevel converters, modular multilevel converter (MMC) due to its modularity feature it more accepted in high voltage direct current (HVDC) transmission systems. Fast fault detection in power electronics converters is necessary to bypass the defected part in order to prevent failure propagation to other Submodules and to provide continues servicing. On this basis, different researches are reported in literature for MMCs fault tolerant operation. In... 

    Fault Tolerant Control Considering Actuator Saturation and External Disturbances

    , Ph.D. Dissertation Sharif University of Technology Khatibi, Mahmood (Author) ; Haeri, Mohammad (Supervisor)
    A control system capable of tolerating system malfunctions while maintaining an acceptable level of performance is referred as fault tolerant control system. The constraints on the amplitude of input control signals limit the domain of attraction even for linear models. Ignoring this fact may lead to an unsatisfactory performance and even closed loop instability. Designing the controller such that the domain of attraction is maximized has been an attractive topic for researchers. On the other hand, persistent disturbances always play an essential role in the real word systems. Designing the controller in a way such that the effect of such disturbances is attenuated is another challenging... 

    Fault-tolerant Control of Formation Flying Satellites Using Machine Learning

    , M.Sc. Thesis Sharif University of Technology Farhang Fallah, Raouf (Author) ; Assadian, Nima (Supervisor)
    In this thesis, a fault-tolerant method for controlling the relative position and attitude between two satellites in a leader and follower formation is proposed. The follower satellite is equipped with twelve thrusters which are installed on the satellite in a particular pattern. These thrusters are assumed to be afflicted by faults. The satellites are subject to external disturbances – such as the ellipsoidal gravity of Earth (J2), drag force, solar radiation pressure, and the third body, and a controller is designed to attain the desired formation under these disturbances.For this purpose, six separated neural networks are trained, one for each of the position or attitude channels. Since... 

    Fault Tolerant Control of Flexible Launch Vehicle Using Fractional-Order Controller

    , M.Sc. Thesis Sharif University of Technology Salehi Abari, Akbar (Author) ; Fathi Jegarkandi, Mohsen (Supervisor)
    In this research the attitude control of a flexible launch vehicle using fractional order proportional-integral-derivative controller in the presence of actuators failures is described. Other work done in this study is the investigation of on-line fault detection and diagnosis effects in the attitude control of flexible launch vehicle in the presence of actuator failures. Rigid-elastic equations of motion and assumed modes have been used to simulate dynamics of launch vehicle in the Simulink environment of MATLAB software using two elastic bending modes. The performance of fractional order controller has been compared with conventional proportional-integral-derivative and adaptive augmented... 

    Fault-Tolerant Control of Flexible Satellite with Magnetic Actuation and Reaction Wheel

    , M.Sc. Thesis Sharif University of Technology Hajkarim, Mohammad Hossein (Author) ; Assadian, Nima (Supervisor)
    The primary goal of this thesis is to develop a Fault Tolerant Control (FTC) system for a flexible satellite in presence of actuators fault and failure. The actuators of the satellite are including three magnetorquers and three reaction wheels on each principal axis. At first, the three-degree-of-freedom rotational motion of a rigid satellite with two flexible solar panels is modeled. The flexible panels are modeled through the assumed mode approach by a finite set of bending modal motion. The ordinary differential equations of their generalized coordinates are found using the Lagrange’s equation. Then, the dynamic model is validated by comparing the simulation results of the model to the NX... 

    Post Fault Vector Control of CHB Driven Induction Motor

    , M.Sc. Thesis Sharif University of Technology Fathi, Manochehr (Author) ; Zolghadri, Mohammad Reza (Supervisor)
    Multilevel converters are considered recently as one of the industrial solutions for high-power and power quality demanding applications. Casacade H-Bridge (CHB) converter is one of the well known topologies among multilevel converters. CHB converter is characterized by its high modularity allowing its power to be easily increased. Modularity also allows any faulty cell to be isolated, so the load can be fed by the remaining operative cells, which leads to an unbalanced output voltage of the CHB converter. To avoid the unbalanced operation, recently a solution based on modifying the phase and the magnitude of the voltage refereces has been proposed. This thesis presents a method to control... 

    Design of an Adaptive Controller for Uncertain Fractional-order Systems Subject to Actuator Failure

    , M.Sc. Thesis Sharif University of Technology Dolatabadi, Shayesteh (Author) ; Shahrokhi, Mohammad (Supervisor)
    The objective of this research is to design an adaptive controller for a class of fractional-order nonlinear systems in the strict-feedback form with unmodeled dynamics. Actuator saturation and actuator fault are also considered. All of the system states are assumed to be measurable, and all the sensors can be faulty. Fractional-order systems are chosen because, in the modeling of physical systems, the fractional-order calculus is often preferable to the classical integer-order calculus. The controller is designed by using the backstepping design technique. The fuzzy logic systems are used to eliminate the problem of "explosion of complexity" in the conventional backstepping method and also... 

    Model Predictive Control Applications in Turbocompressor Control System

    , Ph.D. Dissertation Sharif University of Technology Sheikhbahaei, Reza (Author) ; Alasty, Aria (Supervisor) ; Vossoughi, Gholamreza (Supervisor)
    The purpose of this study is to develop model predictive control approach to control a turbocompressor. The turbocompressor which is consisted of a gas turbine and a centrifugal compressor is manufactured for providing the necessary pressure for gas transport via the gas transmission network. The turbocompressor control system regulates the compressor outlet pressure by controlling the rotational speed of the gas turbine, while preventing the surge phenomenon in the compressor. Surge is a serious instability in the compressor that is associated with periodic fluctuations in system variables and can cause heavy damage to expensive machine parts.In this research, model predictive control has... 

    Wind energy conversion system based on DFIG with open switch fault tolerant six-legs AC-DC-AC converter

    , Article Proceedings of the IEEE International Conference on Industrial Technology, Cape Town ; February , 2013 , Pages 1656-1661 ; 9781467345699 (ISBN) Shahbazi, M ; Zolghadri, M. R ; Poure, P ; Saadate, S ; The Institute of Electrical and Electronics Engineers (IEEE); IEEE Industrial Electronics Society (IES); IEEE Technology Management Council; IEEE Region 8; IEEE South Africa Section IE/IA/PEL Joint Chapter ; Sharif University of Technology
    Continuity of service of wind energy conversion systems as well as their reliability and performances are some of the major concerns in this power generation area. Six-legs AC/DC/AC converters are normally used in modern wind energy systems like as in the system with a doubly-fed induction generator (DFIG). A sudden failure of the converter can lead to the total or partial loss of the control of the phase currents and can cause serious system malfunction or shutdown. Therefore, to prevent the spread of the fault to the other system components and to ensure continuity of service, fault tolerant converter topologies associated to quick and effective fault detection and compensation methods... 

    Robust adaptive fault-tolerant control for leader-follower flocking of uncertain multi-agent systems with actuator failure

    , Article ISA Transactions ; Volume 71 , 2017 , Pages 227-234 ; 00190578 (ISSN) Yazdani, S ; Haeri, M ; Sharif University of Technology
    In this work, we study the flocking problem of multi-agent systems with uncertain dynamics subject to actuator failure and external disturbances. By considering some standard assumptions, we propose a robust adaptive fault tolerant protocol for compensating of the actuator bias fault, the partial loss of actuator effectiveness fault, the model uncertainties, and external disturbances. Under the designed protocol, velocity convergence of agents to that of virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well. © 2017 ISA  

    Reducing the effects of inaccurate fault estimation in spacecraft stabilization

    , Article Journal of Aerospace Technology and Management ; Volume 9, Issue 4 , 2017 , Pages 453-460 ; 19849648 (ISSN) Moradi, R ; Alikhani, A ; Fathi Jegarkandi, M ; Sharif University of Technology
    Reference Governor is an important component of Active Fault Tolerant Control. One of the main reasons for using Reference Governor is to adjust/modify the reference trajectories to maintain the stability of the post-fault system, especially when a series of actuator faults occur and the faulty system can not retain the pre-fault performance. Fault estimation error and delay are important properties of Fault Detection and Diagnosis and have destructive effects on the performance of the Active Fault Tolerant Control. It is shown that, if the fault estimation provided by the Fault Detection and Diagnosis (initial “fault estimation”) is assumed to be precise (an ideal assumption), the... 

    Predictive fault-tolerant control of an all-thruster satellite in 6-DOF motion via neural network model updating

    , Article Advances in Space Research ; Volume 61, Issue 6 , March , 2018 , Pages 1588-1599 ; 02731177 (ISSN) Tavakoli, M. M ; Assadian, N ; Sharif University of Technology
    Elsevier Ltd  2018
    The problem of controlling an all-thruster spacecraft in the coupled translational-rotational motion in presence of actuators fault and/or failure is investigated in this paper. the nonlinear model predictive control approach is used because of its ability to predict the future behavior of the system. The fault/failure of the thrusters changes the mapping between the commanded forces to the thrusters and actual force/torque generated by the thruster system. Thus, the basic six degree-of-freedom kinetic equations are separated from this mapping and a set of neural networks are trained off-line to learn the kinetic equations. Then, two neural networks are attached to these trained networks in... 

    Post fault vector control of an induction motor fed by a chb inverter

    , Article 10th International Power Electronics, Drive Systems and Technologies Conference, PEDSTC 2019, 12 February 2019 through 14 February 2019 ; Pages 149-154 , 2019 ; 9781538692547 (ISBN) Fathi, M ; Zolghadri, M ; Ouni, S ; Babaloo, R ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2019
    In this paper, a new post-fault vector control of an induction motor, fed by a faulty Cascaded H-Bridge (CHB) inverter, is presented. Among fault tolerant control methods, waveform based methods are suitable for closed-loop control and provide higher output voltage. In order to control the speed of the motor, a rotor field oriented control (RFOC) is used. During the fault, the FOC is modified to decrease the fault impact on the motor as low as possible. The proposed method is validated by means of simulation results for different loads and faults. The results show an improvement in both the final operating point and the transient response of the motor  

    Multi-objective optimization in graceful performance degradation and its application in spacecraft attitude fault-tolerant control

    , Article Aerospace Science and Technology ; Volume 69 , 2017 , Pages 465-473 ; 12709638 (ISSN) Moradi, R ; Alikhani, A ; Fathi Jegarkandib, M. F ; Sharif University of Technology
    Reducing the burden of the remaining actuators through decreasing the performance gracefully is an important field in active fault tolerant control. According to the literature, two important points have been identified in the works considering graceful performance degradation: 1) using single-objective optimization, 2) assuming an engineering insight into the performance of the faulty system. This paper has two contributions: First, it is shown that in some cases, single-objective optimization may not be able to provide a satisfactory solution for the problem. Second, a new systematic and general method is proposed to remove the need for the engineering insight. The proposed method is based... 

    Intelligent trajectory tracking of an aircraft in the presence of internal and external disturbances

    , Article International Journal of Robust and Nonlinear Control ; Volume 29, Issue 16 , 2019 , Pages 5820-5844 ; 10498923 (ISSN) Emami, A ; Banazadeh, A ; Sharif University of Technology
    John Wiley and Sons Ltd  2019
    This research deals with developing an intelligent trajectory tracking control approach for an aircraft in the presence of internal and external disturbances. Internal disturbances including actuators faults, unmodeled dynamics, and model uncertainties as well as the external disturbances such as wind turbulence significantly affect the performance of the common trajectory tracking control approaches. There are several fault-tolerant control approaches in the literature to overcome the effects of specific actuator or sensor faults during the flight. However, trajectory tracking control of an air vehicle in the presence of unexpected faults and simultaneous presence of wind turbulence is... 

    Fault-tolerant predictive trajectory tracking of an air vehicle based on acceleration control

    , Article IET Control Theory and Applications ; Volume 14, Issue 5 , 2020 , Pages 750-762 Emami, S. A ; Banazadeh, A ; Sharif University of Technology
    Institution of Engineering and Technology  2020
    A novel fault-tolerant model predictive control (MPC)-based trajectory tracking approach for an aerial vehicle is presented in this study. A generalised online sequential extreme learning machine is introduced first to identify the corresponding coefficients of actuator faults. Subsequently, a robust trajectory tracking control is developed based on MPC, where the system constraints can be effectively considered in the designed control scheme. Trajectory tracking control is achieved by controlling only the acceleration of the aerial robot in the MPC structure. This leads to less computational burden and faster closed-loop dynamics. In addition, an effective disturbance observer is employed,...