A two-step detection method for actuator and sensor failures based on self-repairing PID control

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Published Sep 4, 2023
Masayoshi Hara Masanori Takahashi

Abstract

Our previous works have proposed a self-repairing PID (SRPID) control for plants with sensor failures. This method uses an I-controller (integrator) with a well-designed auxiliary signal to detect failures. However, the SRPID has not addressed actuator failures. This paper presents a two-step detection method for actuator and sensor failures based on the SRPID and confirms the effectiveness of the proposed detection method through experiments on a ball-and-beam system.  

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Keywords

Actuator and sensor failures, Self-repairing control, PID, fault detection

References
Hauser, J., Sastry, S., & Kokotovic, P. (1992). Nonlinear control via approximate input output linearization: the ball and beam example. IEEE Trans. on Automatic Control, 37(3), 392-398.

Jiang, B., Staroswiecki, M., & Cocquempot, V. (2003). Active fault tolerant control for a class of nonlinear systems. IFAC Proceedings Volumes, 36(5), 125-130.

Kawaguchi, N., Araki, N., Sato, T., Kuroda, M., & Asami, T. (2020). Active fault-diagnosis method using adaptive allocator and fault-tolerant adaptive control system design. ROBOMECH J., 7(1).

Takahashi, M. (2016). Self-repairing pi/pid control against sensor failures. Int. J. of Innovative Computing, Information and Control, 12(1), 193-202.

Wang, Y., Zhou, D., Qin, S. J., & Wang, H. (2008). Active fault-tolerant control for a class of nonlinear systems with sensor faults. Int. J. of Control, Automation and Systems, 6(3), 339-350.
Section
Special Session Papers