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Titre: | Uncertain bicausal bond graph and adaptive fuzzy PID controller for Fault-Tolerant control |
Auteur(s): | Lounici, Yacine Touati, Youcef Adjerid, Smail Ould Bouamama, Belkacem Benazzouz, Djamel |
Mots-clés: | Fault-tolerant control Uncertain systems Bicausal bond graph Adaptive Fuzzy PID controller and omnidirectional mobile robot |
Date de publication: | 2020 |
Editeur: | IEEE |
Collection/Numéro: | 2020 International Conference on Electrical Engineering (ICEE);pp. 1-6 |
Résumé: | In this paper, a new fault-tolerant control scheme
for uncertain systems is proposed based on uncertain bicausal
Bond Graph and Adaptive Fuzzy PID Controller. The main
objective is to make the control system act faster and more
effectively in the presence of the faults and uncertainties. The
scientific interest of the present work remains in integrating the
benefits of uncertain bicausal bond graph model-based fault
estimation and Fuzzy PID controller for effective fault-tolerant
control of uncertain dynamic systems. For this task, the
uncertain fault estimation is generated from the uncertain
bicausal bond graph with perfectly separate nominal part from
the uncertain part. Second, a fuzzy inference scheme is proposed
to tune the PID gains in real-time, where the estimated fault and
the errors over the estimated fault due to the presence of
uncertainties are used in the fuzzy inference as inputs. Finally,
the required input that compensates the fault effects are
delivered to the system. The proposed approach is compared
with the conventional one through an experimental application
to the traction system of an omnidirectional mobile robot. The
results show the effectiveness of the proposed approach |
URI/URL: | https://ieeexplore.ieee.org/abstract/document/9249839 http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/6527 |
Collection(s) : | Communications Internationales
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