A novel on-line OCID method and its application to input-constrained active fault-tolerant tracker design for unknown nonlinear systems

Jason Sheng Hong Tsai, Tzu Hsien Yu, Te Jen Su, Shu Mei Guo, Leang San Shieh, Jose I. Canelon

Research output: Contribution to journalArticle

1 Citation (Scopus)

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.

Original languageEnglish
Pages (from-to)2632-2662
Number of pages31
JournalInternational Journal of Systems Science
Volume50
Issue number14
DOIs
Publication statusPublished - 2019 Oct 26

Fingerprint

Fault-tolerant
Nonlinear systems
Observer
Identification (control systems)
Nonlinear Systems
Controller
Unknown
Controllers
Line
Canonical form
Linear Systems
Immovable
Design
Singular value decomposition
Manipulator
Operating Systems
Instant
Manipulators
Linear systems
Linear Model

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Theoretical Computer Science
  • Computer Science Applications

Cite this

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title = "A novel on-line OCID method and its application to input-constrained active fault-tolerant tracker design for unknown nonlinear systems",
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.",
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A novel on-line OCID method and its application to input-constrained active fault-tolerant tracker design for unknown nonlinear systems. / Tsai, Jason Sheng Hong; Yu, Tzu Hsien; Su, Te Jen; Guo, Shu Mei; Shieh, Leang San; Canelon, Jose I.

In: International Journal of Systems Science, Vol. 50, No. 14, 26.10.2019, p. 2632-2662.

Research output: Contribution to journalArticle

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AU - Tsai, Jason Sheng Hong

AU - Yu, Tzu Hsien

AU - Su, Te Jen

AU - Guo, Shu Mei

AU - Shieh, Leang San

AU - Canelon, Jose I.

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