Passive fault tolerant control of a double inverted pendulum - a case study

被引：103

作者：

Niemann, H

Stoustrup, J

机构：

[1] Orsted DTU, DK-2800 Lyngby, Denmark

[2] Aalborg Univ, Dept Control Engn, DK-9220 Aalborg, Denmark

来源：

CONTROL ENGINEERING PRACTICE | 2005年 / 13卷 / 08期

关键词：

H-infinity controller design; YJBK parameterization; fault tolerant control; observer based controller implementation; simulation;

D O I：

10.1016/j.conengprac.2004.11.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A passive fault tolerant control scheme is suggested, in which a nominal controller is augmented with an additional block, which guarantees stability and performance after the occurrence of a fault. The method is based on the YJBK parameterization, which requires the nominal controller to be implemented in observer based form. The proposed method is applied to a double inverted pendulum system, for which an H-infinity controller has been designed and verified in a lab setup. In this case study, the fault is a degradation of the tacho loop. (c) 2004 Elsevier Ltd. All rights reserved.

引用

页码：1047 / 1059

页数：13

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