A novel on-line OCID method and its application to input-constrained active fault-tolerant tracker design for unknown nonlinear systems. Issue 14 (26th October 2019)

• Record Type: Journal Article
• Authors: Tsai, Jason Sheng-Hong; Yu, Tzu-Hsien; Su, Te Jen; Guo, Shu-Mei; Shieh, Leang-San; Canelon, Jose I.
• Is Part Of: International journal of systems science. Volume 50:Issue 14(2019)
• Page Start: 2632
• Page End: 2662
• Publication Date: 2019-10-26
• Subjects: Observer/Kalman filter identification (OKID) -- observer/controller identification (OCID) -- fault tolerant control (FTC) -- system identification -- model predictive control (MPC); System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2019.1672117
• Languages: English
• ISSNs: 0020-7721

Abstract

ABSTRACT: The existing off-line observer/controller identification (OCID) method for linear systems is newly extended in this paper for off-line/on-line identification of known/unknown highly nonlinear systems, and a new input-constrained active fault-tolerant tracker is developed, based on the identified linear models. The advantages of the proposed extended on-line OCID method for linear/nonlinear systems are briefly described as follows: (i) Implement novel servo-control-oriented off-line OCID methods in observer and controller canonical forms for highly nonlinear systems; (ii) Is able to overcome the discontinuity induced by the singular value decomposition (SVD) that should be carried out at each sampling instant; (iii) It directly realises the identified parameters in the observer/controller canonical forms; this simplifies the identification process; (iv) Can be practically implemented for the on-line control of an unknown nonlinear system which was constituted by an unknown open-loop plant, an existing but unknown controller and/or an unknown observer; and (v) Can be utilised to develop a new active fault-tolerant controller to compensate the immovable existing controller of the practical operating system. Finally, the servo-control-oriented off-line OCID method for the highly nonlinear PUMA 560 manipulator is shown in the illustrative examples to demonstrate the superiority of the proposed method.