This paper describes an active fault tolerant control scheme that is developed for nonlinear systems. The methodology is based on a fault detection and diagnosis procedure relying on adaptive filters designed via the nonlinear geometric approach. The controller reconfiguration exploits directly the on–line estimate of the fault signal. The classical model of an inverted pendulum on a cart is considered as an application example, in order to highlight the feasibility and the efficiency of the proposed approach.

Active Fault Tolerant Control of Nonlinear Systems: the Cart–Pole example

CASTALDI, PAOLO;N. Mimmo;
2009

Abstract

This paper describes an active fault tolerant control scheme that is developed for nonlinear systems. The methodology is based on a fault detection and diagnosis procedure relying on adaptive filters designed via the nonlinear geometric approach. The controller reconfiguration exploits directly the on–line estimate of the fault signal. The classical model of an inverted pendulum on a cart is considered as an application example, in order to highlight the feasibility and the efficiency of the proposed approach.
Proceedings of the 7th Workshop on Advanced Control and Diagnosis
M. Bonfè ; P. Castaldi; N. Mimmo; S. Simani
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/79298
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