Active fault tolerant control of a flexible beam

Yuanqiang Bai; Karolos M. Grigoriadis; Gangbing Song

doi:10.1117/12.715460

Abstract

This paper presents the development and application of an H∞ fault detection and isolation (FDI) filter and fault tolerant controller (FTC) for smart structures. A linear matrix inequality (LMI) formulation is obtained to design the full order robust H∞ filter to estimate the faulty input signals. A fault tolerant H∞ controller is designed for the combined system of plant and filter which minimizes the control objective selected in the presence of disturbances and faults. A cantilevered flexible beam bonded with piezoceramic smart materials, in particular the PZT (Lead Zirconate Titanate), in the form of a patch is used in the validation of the FDI filter and FTC controller design. These PZT patches are surface-bonded on the beam and perform as actuators and sensors. A real-time data acquisition and control system is used to record the experimental data and to implement the designed FDI filter and FTC. To assist the control system design, system identification is conducted for the first mode of the smart structural system. The state space model from system identification is used for the H∞ FDI filter design. The controller was designed based on minimization of the control effort and displacement of the beam. The residuals obtained from the filter through experiments clearly identify the fault signals. The experimental results of the proposed FTC controller show its e effectiveness for the vibration suppression of the beam for the faulty system when the piezoceramic actuator has a partial failure.

Citation Download Citation

Yuanqiang Bai, Karolos M. Grigoriadis, Gangbing Song, "Active fault tolerant control of a flexible beam", Proc. SPIE 6523, Modeling, Signal Processing, and Control for Smart Structures 2007, 65230K (18 April 2007); doi: 10.1117/12.715460; https://doi.org/10.1117/12.715460

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