• International Journal of Aeronautical and Space Sciences
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• v.17 no.1
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• pp.54-63
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• 2016

A novel attitude tacking control method using Time Delay Control (TDC) scheme is developed to provide robust controllability of a rigid hexacopter in case of single or multiple rotor faults. When the TDC scheme is developed, the rotor faults such as the abrupt and/or incipient rotor faults are considered as model uncertainties. The kinematics, modeling of rigid dynamics of hexacopter, and design of stability and controllability augmentation system (SCAS) are addressed rigorously in this paper. In order to compare the developed control scheme to a conventional control method, a nonlinear numerical simulation has been performed and the attitude tracking performance has been compared between the two methods considering the single and multiple rotor faults cases. The developed control scheme shows superior stability and robust controllability of a hexacopter that is subjected to one or multiple rotor faults and external disturbance, i.e., wind shear, gust, and turbulence.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1154-1158
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• 2011

In this paper, we discuss an observer-based fault tolerant controller design for the T-S (Takagi-Sugeno) fuzzy system with exogenous disturbance. To derive robust controller design conditions, we use $H_{\infty}$ design technique. The design conditions are derived in terms of linear matrix inequalities. An illustrative example is provided to show the effectiveness of the proposed methodology.

• Journal of Electrical Engineering and Technology
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• v.13 no.2
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• pp.722-732
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• 2018

Dual type Independent multi-phase BLDC Motor (DI-BLDCM) is designed to be robust to faulty conditions of motor and drive system. Despite the efforts of the motor design, open-switch faults of DI-BLDCM drive system cause the torque ripple of the motor. This torque ripple makes unwanted sound noise and mechanical vibration of associated systems. This paper proposes four methods for compensating the torque ripple and compares the characteristics of each proposed method. All proposed methods are able to reduce the torque ripple to similar level of the healthy condition, although the motor operates in open-switch fault conditions. However, these methods have different characteristics in various fault conditions. Therefore, from the results of the comparison, the suitable method is selected for the various fault conditions. The feasibility of the proposed methods is proved by the several experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.883-890
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• 2003

Two GOS (Generalized Observer Scheme) type Fault Detection Isolation Schemes (FDIS), employing the bank of unknown input functional observers (UIFO) as a residual generator, are proposed to make the practical use of the multiple observer based FDIS. The one is IFD (Instrument Fault Detection) scheme and the other is PFD (Process Fault Detection) scheme. A design method of UIFO is suggested for robust residual generation and reducing the size of the observer bank. Several design objectives that can be achieved by the FDI schemes and the design methods to meet the objectives are described. An IFD system is constructed for the Boeing 929 Jetfoil boat system to show the effectiveness of the propositions. Major contributions of this paper are two folds. Firstly, the proposed UIFO approaches considerably reduce the size of residual generator in the GOS type FDI systems. Secondly, the FDI schemes, in addition to the basic functions of the conventional observer-based FDI schemes, can reconstruct the failed signal or give the estimates of fault magnitude that can be used for compensating fault effects. The schemes are directly applicable to the design of a fault tolerant control systems.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.7
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• pp.1247-1253
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• 2008

A design method of a T-S fuzzy model based reduced order nonlinear unknown input observer(NUIO) is presented. The fuzzy NUIO is designed based on the parallel distributed compensation(PDC) concept. It consists of a number of the linear UIOs, each of which is designed for each local linear model in the T-S fuzzy model of a class of nonlinear systems. The fuzzy NUIO provides not only the state estimates insensitive to the unknown inputs, for example, disturbances and faults etc., but also the estimates of the unknown inputs. Therefore, It can be employed in the state feedback control and disturbance rejection control of a class of nonlinear systems with unknown disturbances. It also applied to the robust residual generation for the fault detection and isolation systems and to the design of fault tolerant control systems. As an example, the NUIO is applied to an inverted pendulum system to show the state and disturbance estimation performance and to illustrate the fuzzy reduced order NUIO design method.

• Journal of Aerospace System Engineering
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• v.11 no.5
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• pp.28-35
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• 2017

Magnetic Suspension and Balance System (MSBS) demonstrates the capacity to levitate an experimental model absent any mechanical contact using magnetic forces and moments. It allows precise control of position and attitude of the model, and measures external forces and moments acting on the model. For the purpose of acquisition of reliable experimental results under stable and safe conditions, the performance and robustness of the position and attitude control system of MSBS needs to be improved. To this end, Iterative Feedback Tuning (IFT) and L1 adaptive output feedback algorithm were employed to automatically increase command following performance and to ensure robust operation of MSBS with failure of electric power supply. The applicability was validated using computational simulation.