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An LPV pole-placement approach to friction compensation as an FTC problem

Chen, Lejun; Patton, Ron; Klinkhieo, Supat


Lejun Chen

Supat Klinkhieo


The concept of combining robust fault estimation within a controller system to achieve active Fault Tolerant Control (FTC) has been the subject of considerable interest in the recent literature. The current study is motivated by the need to develop model-based FTC schemes for systems that have no unique equilibria and are therefore difficult to linearise. Linear Parameter Varying (LPV) strategies are well suited to model-based control and fault estimation for such systems. This contribution involves pole-placement within suitable LMI regions, guaranteeing both stability and performance of a multi-fault LPV estimator employed within an FTC structure. The proposed design strategy is illustrated using a nonlinear two-link manipulator system with friction forces acting simultaneously at each joint. The friction forces, regarded as a special case of actuator faults, are estimated and their effect is compensated within a polytope controller system, yielding a robust form of active FTC that is easy to apply to real robot systems.


Chen, L., Patton, R., & Klinkhieo, S. (2012). An LPV pole-placement approach to friction compensation as an FTC problem. International Journal of Applied Mathematics and Computer Science, 22(1), 149-160.

Journal Article Type Article
Acceptance Date Sep 14, 2011
Online Publication Date Mar 22, 2012
Publication Date Mar 1, 2012
Deposit Date Nov 13, 2014
Publicly Available Date Nov 13, 2014
Journal International journal of applied mathematics and computer science
Print ISSN 1641-876X
Peer Reviewed Peer Reviewed
Volume 22
Issue 1
Pages 149-160
Keywords Friction; Linear parameter varying; Fault detection and diagnosis; Linear matrix inequality; Pole-placement
Public URL
Publisher URL
Additional Information Copy of article first published in International journal of applied mathematics and computer science, 2012, v.22, issue 1


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