Finite-time fault-tolerant control of teleoperating cyber physical system against faults

doi:10.23919/JSEE.2023.000044

Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (2): 469-478.doi: 10.23919/JSEE.2023.000044

• CONTROL THEORY AND APPLICATION • Previous Articles

Finite-time fault-tolerant control of teleoperating cyber physical system against faults

Chengwei PAN¹^,²(), Xia LIU³(), Yong CHEN¹^,²^,*(), Meng LI¹^,²()

¹ School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
² Institute of Electric Vehicle Driving System and Safety Technology, University of Electronic Science and Technology of China, Chengdu 611731, China
³ School of Electrical Engineering and Electronic Information, Xihua University, Chengdu 610039, China

Received:2021-07-30 Online:2023-04-18 Published:2023-04-18
Contact: Yong CHEN E-mail:cwpan_qy@163.com;xliu_uestc@yahoo.com;ychencd@uestc.edu.cn;Lmengxhu@163.com
About author:
PAN Chengwei was born in 1994. He received his M.S. degree from Xihua University, Chengdu, China, in 2019. He is currently working toward his Ph.D. degree in control science and engineering from the School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China. His research interests include fault-tolerant control, cyber physical system, autonomous vehicular platoon, adaptive control, resilient control. E-mail: cwpan_qy@163.com

LIU Xia was born in 1980. She received her Ph.D. degree from University of Electronic Science and Technology of China, Chengdu, China, in 2011. She is currently a professor in Xihua University, Chengdu, China. From 2009 to 2010, she was a visiting scholar with the Department of Electrical and Computer Engineering, University of Alberta, Canada. From 2013 to 2014, she was a visiting scholar with the Department of Mechanical Engineering, University of Adelaide, Australia. Her research interest includes nonlinear system and control, especially control of robotic teleoperation systems. E-mail: xliu_uestc@yahoo.com

CHEN Yong was born in 1977. He received his Ph.D. degree from Chongqing University, Chongqing, China, in 2007. He is a professor and Ph.D. supervisor in the School of Automation Engineering and the Director of the Institute of Electric Vehicle Driving System and Safety Technology, University of Electronic Science and Technology of China, Chengdu, China. He was a visiting scholar in University of Adelaide from 2013 to 2014. His research interests include fault-tolerant control, network control, and intelligent connected system. E-mail: ychencd@uestc.edu.cn

LI Meng was born in 1988. He received his Ph.D. degree from University of Electronic Science and Technology of China, Chengdu, China, in 2018. He is currently an associate researcher in University of Electronic Science and Technology of China, Chengdu, China. From 2017 to 2018, he was a joint Ph.D. student with the School of Electrical and Electronic Engineering, University of Adelaide, Adelaide, Australia. His research interests include networked control systems, cyber-physical systems, and sliding-mode control. E-mail: Lmengxhu@163.com
Supported by:
This work was supported by the National Natural Science Foundation of China (61973331;61973257), and the National Key Research and Development Plan Programs of China (2018YFB0106101)

Abstract

Abstract:

This paper studies a finite-time adaptive fractional-order fault-tolerant control (FTC) scheme for the slave position tracking of the teleoperating cyber physical system (TCPS) with external disturbances and actuator faults. Based on the fractional Lyapunov stability theory and the finite-time stability theory, a fractional-order nonsingular fast terminal sliding mode (FO-NFTSM) control law is proposed to promote the tracking and fault tolerance performance of the considered system. Meanwhile, the adaptive fractional-order update laws are designed to cope with the unknown upper bounds of the unknown actuator faults and external disturbances. Furthermore, the finite-time stability of the closed-loop system is proved. Finally, comparison simulation results are also provided to show the validity and the advantages of the proposed techniques.

Key words: teleoperating cyber physical system (TCPS), fractional Lyapunov stability, fault-tolerant control (FTC), finite-time stability

Chengwei PAN, Xia LIU, Yong CHEN, Meng LI. Finite-time fault-tolerant control of teleoperating cyber physical system against faults[J]. Journal of Systems Engineering and Electronics, 2023, 34(2): 469-478.

Figures/Tables 7

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Finite-time fault-tolerant control of teleoperating cyber physical system against faults

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