Development and Evaluation of an Integral Sliding Mode Fault Tolerant Control Scheme on the RECONFIGURE Benchmark
International Journal of Robust and Nonlinear Control
Wiley / International Federation of Automatic Control (IFAC)
Copyright © 2017 John Wiley & Sons, Ltd.
Reason for embargo
This paper describes the development, application and evaluation of a linear parameter-varying integral sliding mode control allocation scheme to the RECONFIGURE benchmark model to deal with an actuator failure/fault scenario. The proposed scheme has the capability to maintain close to nominal (fault free) load factor control performance in the face of elevator failures/faults, by including a retro-fitted integral sliding mode term and then re-routing (via control allocation) the augmented control signal to healthy elevators without reconfiguring the baseline controller. In order to mitigate any chattering appearing in the elevator demands, the retro-fitted signal is based on a super-twisting sliding mode structure. This produces a control signal which is continuous and does not have the discontinuous switching nature of traditional sliding mode schemes. The scheme is evaluated using an industrial Functional Engineering Simulator developed as part of the RECONFIGURE project. Monte-Carlo campaign results are shown to demonstrate the performance of the proposed scheme.
The work in this paper is supported by EU-FP7 Grant (FP7-AAT-2012-314544): RECONFIGURE
This is the author accepted manuscript. The final version is available from Wiley via the DOI in this record.
Published online 25 October 2017