Joint reliability assessment and adaptive control for a balanced system considering actuators degradation
Résumé
The effect of control action is crucial to system reliability. However, it has been not significantly investigated in the literature, particularly for balanced systems which require strict control to maintain balance restriction. The purpose of this paper is to present a reliability assessment and adaptive control for a balanced system considering actuators degradation. The degradation state of an actuator process affects vice versa to the control actions by forcing them to increase generating stress on the actuator in order to maintain the desired setpoint. In that way, first we propose a novel degradation model for actuators considering the impact of control actions. An adaptive control allowing considering the degradation state of actuators is then developed. Illustrated with the use case of quadcopter, the reliability of the system has been analyzed and effects of proposed control policy have been demonstrated with simulation.