Sensor fault tolerant controller for a double inverted pendulum system
This paper presents an Internal Model Control based structure to realise fault tolerance towards sensor faults. The proposed design implicitly embeds fault detection and controller elements requirements with considerations to stability and robustness towards uncertainties besides multiple faults env...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
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2008
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| _version_ | 1825719760162127872 |
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| author | Yang, S.S. Chen, J. Mohamed, H.A.F. Moghavvemi, M. |
| author_facet | Yang, S.S. Chen, J. Mohamed, H.A.F. Moghavvemi, M. |
| author_sort | Yang, S.S. |
| collection | UM |
| description | This paper presents an Internal Model Control based structure to realise fault tolerance towards sensor faults. The proposed design implicitly embeds fault detection and controller elements requirements with considerations to stability and robustness towards uncertainties besides multiple faults environment. The performance of the proposed controller is demonstrated via multi input multi output and unstable system i.e. the double inverted pendulum system. Performance of the controller is compared with the well known H controller. Results show the potential of this controller for implementation to handle systems with multiple sensor faults and uncertainties. |
| first_indexed | 2024-03-06T05:24:40Z |
| format | Conference or Workshop Item |
| id | um.eprints-9759 |
| institution | Universiti Malaya |
| last_indexed | 2024-03-06T05:24:40Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | um.eprints-97592017-11-23T02:03:42Z http://eprints.um.edu.my/9759/ Sensor fault tolerant controller for a double inverted pendulum system Yang, S.S. Chen, J. Mohamed, H.A.F. Moghavvemi, M. TA Engineering (General). Civil engineering (General) This paper presents an Internal Model Control based structure to realise fault tolerance towards sensor faults. The proposed design implicitly embeds fault detection and controller elements requirements with considerations to stability and robustness towards uncertainties besides multiple faults environment. The performance of the proposed controller is demonstrated via multi input multi output and unstable system i.e. the double inverted pendulum system. Performance of the controller is compared with the well known H controller. Results show the potential of this controller for implementation to handle systems with multiple sensor faults and uncertainties. 2008 Conference or Workshop Item PeerReviewed Yang, S.S. and Chen, J. and Mohamed, H.A.F. and Moghavvemi, M. (2008) Sensor fault tolerant controller for a double inverted pendulum system. In: 17th World Congress, International Federation of Automatic Control, IFAC, 6 - 11 July 2008, Seoul, South Korea. |
| spellingShingle | TA Engineering (General). Civil engineering (General) Yang, S.S. Chen, J. Mohamed, H.A.F. Moghavvemi, M. Sensor fault tolerant controller for a double inverted pendulum system |
| title | Sensor fault tolerant controller for a double inverted pendulum system |
| title_full | Sensor fault tolerant controller for a double inverted pendulum system |
| title_fullStr | Sensor fault tolerant controller for a double inverted pendulum system |
| title_full_unstemmed | Sensor fault tolerant controller for a double inverted pendulum system |
| title_short | Sensor fault tolerant controller for a double inverted pendulum system |
| title_sort | sensor fault tolerant controller for a double inverted pendulum system |
| topic | TA Engineering (General). Civil engineering (General) |
| work_keys_str_mv | AT yangss sensorfaulttolerantcontrollerforadoubleinvertedpendulumsystem AT chenj sensorfaulttolerantcontrollerforadoubleinvertedpendulumsystem AT mohamedhaf sensorfaulttolerantcontrollerforadoubleinvertedpendulumsystem AT moghavvemim sensorfaulttolerantcontrollerforadoubleinvertedpendulumsystem |