Abstract
A novel observer-based fuzzy adaptive fault-tolerant
control approach is proposed for multi-motor synchronously
driving servo systems in the situation of a single-motor malfunc-
tion. Different from most existing fault-tolerant control strategies
based on analytical redundancy, this paper leverages inherent
hardware advantages of multi-motor systems and develops a
structural redundancy-based fault-tolerant control by directly
turning off the faulty motor, which enhances the reliability of
the remaining healthy motors driving the asymmetric system.
To further address the unknown nonlinearities and measure-
ment inaccuracies introduced by the unbalanced faulty system,
a fuzzy logic system is developed to identify the state-based
unbalanced torque and additional friction dynamics, and a state
observer is then designed to estimate the load speed. Moreover,
the command-filtered backstepping technique is utilized in the
control design process to reduce the computational complexity
caused by the repeated signal derivations. After stability analysis,
an experiment on the multi-motor prototype is implemented
to show the effectiveness of the designed fault-tolerant control
approach.
control approach is proposed for multi-motor synchronously
driving servo systems in the situation of a single-motor malfunc-
tion. Different from most existing fault-tolerant control strategies
based on analytical redundancy, this paper leverages inherent
hardware advantages of multi-motor systems and develops a
structural redundancy-based fault-tolerant control by directly
turning off the faulty motor, which enhances the reliability of
the remaining healthy motors driving the asymmetric system.
To further address the unknown nonlinearities and measure-
ment inaccuracies introduced by the unbalanced faulty system,
a fuzzy logic system is developed to identify the state-based
unbalanced torque and additional friction dynamics, and a state
observer is then designed to estimate the load speed. Moreover,
the command-filtered backstepping technique is utilized in the
control design process to reduce the computational complexity
caused by the repeated signal derivations. After stability analysis,
an experiment on the multi-motor prototype is implemented
to show the effectiveness of the designed fault-tolerant control
approach.
| Original language | English |
|---|---|
| Journal | IEEE Transactions on Fuzzy Systems |
| DOIs | |
| Publication status | Published - 12 Jun 2025 |