Simple Adaptive Control Against Sensor Failures

摘要

In various fields, for practical plants, Simple Adaptive Control (SAC) has provided good control performances in spite of its simple structure. Although many theories and applications of the SAC have been explored, sensor failure issues have not been well considered. As a remedy, in the previous work, a fault-tolerant SAC system (SACS) is developed that can automatically replace failed sensors with healthy backups to maintain its performance. However, an additional condition is imposed on controlled plants, and a class of detectable failures is slightly limited. This problem comes from a design of detection filters introduced to the SACS. In this paper, to remove the above-mentioned restrictions, a new design method for a nonlinear detection filter is presented. This paper also shows a theoretical analysis on control performance and several simulation results to confirm the effectiveness.