Optimized-Based Fault-Tolerant Control of an Electro-Hydraulic System with Disturbance Rejection
Open accessAbstract
In this article, the design and implementation of a fault-tolerant controller are proposed for an electro-hydraulic actuator (EHA) in the presence of disturbances and actuator faults. The existence of nonlinearities, uncertainties, and a bias fault (i.e., internal leakage fault) in the system dynamics significantly decreases the desired performance. The nonlinear disturbance observers (NDO) are constructed to handle the adverse influences caused by the above disadvantages. The whole fault-tolerant control (FTC) scheme consists of two design loops: an inner force control loop and an outer position control loop. The inner loop is based on an optimized backstepping framework to achieve the optimal performance, whilst the problem of uncertainties and disturbances is dealt with using a terminal sliding mode directly designed from the position tracking error. It is shown by theoretical analysis that system stability is ensured under faulty conditions. Finally, simulation results and comparison studies are conducted to further verify the effectiveness of the proposed approach.
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- Authors
- Phan, V. D., & Ahn, K. K.
- Affiliations
- University of Ulsan (KR)
- Corresponding author
- Ahn, Kyoung Kwan
- Venue
- Applied Sciences
- Publisher
- MDPI AG
- Published
- 2022-09-14
- Volume
- 12
- Issue
- 18
- Pages
- 9197
- ISSN
- 2076-3417 (ISSN-L)
- OpenAlex
- W4295797390
- Cited by
- 17
- References
- 43
- Citations by year
- 2026: 2 · 2025: 9 · 2024: 3 · 2023: 2 · 2022: 1
- FWCI
- 1.41
- Type
- journal article
- Language
- en
- Open access
- gold
- dx.doi.org
- Licence
- Locations
- Applied Sciences (publishedVersion, cc-by)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
- Funders
- Basic Science Program through the National Research Foundation of Korea (NRF) (2020R1A2B5B03001480, 2021RIS-003)
- Ministry of Science and ICT, South Korea (2020R1A2B5B03001480, 2021RIS-003)
- Regional Innovation Strategy (RIS) through the National Research Foundation of Korea (NRF) (2020R1A2B5B03001480, 2021RIS-003)
- Ministry of Education (MOE) (2020R1A2B5B03001480, 2021RIS-003)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Hydraulic and Pneumatic Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Keywords
- fault-tolerant control, electro-hydraulic actuator, disturbance rejection, nonlinear disturbance observer, actuator faults, backstepping control, terminal sliding mode, location tracking, force control
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