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A ROBUST SENSOR FAULT TOLERANT CONTROL SCHEME IMPLEMENTED ON A CRANE
Author(s) -
Tan Chee Pin,
Edwards Christopher
Publication year - 2007
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2007.tb00420.x
Subject(s) - fault tolerance , observer (physics) , control theory (sociology) , scheme (mathematics) , fault detection and isolation , signal (programming language) , engineering , fault (geology) , control system , control engineering , computer science , control (management) , artificial intelligence , actuator , mathematics , reliability engineering , mathematical analysis , physics , electrical engineering , quantum mechanics , seismology , programming language , geology
ABSTRACT This paper presents a sensor fault tolerant control scheme applied to a crane system. Sensor faults affect the system's performance in the closed‐loop when the faulty sensor readings are used to generate the control input. In this paper, the measured outputs are separated into potentially faulty and nonfaulty components, and the latter are injected into a linear observer to reconstruct the faults. The reconstruction is subtracted from the faulty sensors to form a compensated ‘virtual sensor’ and this signal is then used to generate the control input. A design method for the observer is also presented in which the reconstruction signal is made as insensitive as possible to any uncertainties or nonlinearities present in the system. Good results have been obtained; with reduced performance degradation during faulty conditions.