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Design of Fault-Tolerant Observer-Based Control

Student: Alexandra Koretskaya

Supervisor: Olga Andrianova

Faculty: HSE Tikhonov Moscow Institute of Electronics and Mathematics (MIEM HSE)

Educational Programme: Applied Mathematics (Bachelor)

Final Grade: 10

Year of Graduation: 2019

Control theory is one of the most popular areas to research nowadays. Modern methods of numerical modeling make it possible to automate human labor and improve the quality of life. However, sometimes the control system is quite difficult to use because they are inclined to various faults and malfunctions. The main purpose of this work is to study the principles of fault-tolerant control, with which it became possible to compensate different faults that occur in control systems. The structure of fault-tolerant control and various ways of mathematical construction of this type of control will be described in detail. Also, the mathematical model of the two-link manipulator system will be analyzed and an active fault-tolerant control for this system will be built using the technique of linear matrix inequalities Matlab will be used to solve linear matrix inequalities and numerical simulation of the nonlinear dynamic system of the manipulator will be done using Python.

Full text (added May 26, 2019)

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