Article Per Year (5 Year)
p-Index From 2020 - 2025
0.23
P-Index
This Author published in this journals
All Journal International Journal of Robotics and Control Systems
Salah Bouzina
University Abdel Hamid Mehri Constantine 2
Control & Systems Engineering Electrical & Electronics Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
Fuzzy Fault-Tolerant Control Applied on Two Inverted Pendulums with Nonaffine Nonlinear Actuator Failures Abdelhamid Bounemeur; Mohamed Chemachema; Salah Bouzina
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.917

Abstract

This paper deals with the problem of fault-tolerant control for a class of perturbed nonlinear systems with nonlinear non-affine actuator faults. Fuzzy systems are integrated into the design of the control law to get rid of the system nonlinearities and the considered actuator faults. Two adaptive controllers are proposed in order to reach the control objective and ensure stability. The first term is an adaptive controller involved to mollify the system uncertainties and the considered actuator faults. Therefore, the second term is known as a robust controller introduced for the purpose of dealing with approximation errors and exogenous disturbances. In general, the designed controller allows to deal automatically with the exogenous disturbances and actuator faults with the help of an online adaption protocol. A Butterworth low-pass filter is utilized to avoid the algebraic loop issue and allows a reliable approximation of the ideal control law. A stability study is performed based on Lyapunov's theory. Two inverted pendulum example is carried out to prove the accuracy of the controller.
Co-Authors Abdelhamid Bounemeur Mohamed Chemachema