TY - JOUR
T1 - A novel on-line OCID method and its application to input-constrained active fault-tolerant tracker design for unknown nonlinear systems
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.
N1 - Funding Information:
This work was supported by the Ministry of Science and Technology of Republic of China, under contracts [MOST 108-2221-E-006-213-MY3], [MOST 107-2221-E-006-203-MY2], [MOST 107-2218-E-006-059].
PY - 2019/10/26
Y1 - 2019/10/26
N2 - 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.
AB - 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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U2 - 10.1080/00207721.2019.1672117
DO - 10.1080/00207721.2019.1672117
M3 - Article
AN - SCOPUS:85074329158
VL - 50
SP - 2632
EP - 2662
JO - International Journal of Systems Science
JF - International Journal of Systems Science
SN - 0020-7721
IS - 14
ER -