Distributed fault tolerant tracking control for large-scale multi-motor web-winding systems

This study is concerned with the distributed fault tolerant tracking control for large-scale multi-motor web-winding systems. Firstly, the web-winding system is considered a synthetic system with several dynamic subsystems subject to multiple disturbances and actuator faults. Then, a disturbance compensation-based distributed fault diagnosis scheme is developed to estimate the system actuator faults. By setting the reference outputs, a method of obtaining equilibrium control inputs and equilibrium states is formulated to achieve the distributed variation dynamic model at equilibrium points by Taylor expansion. Based on the estimated actuator faults, an effective distributed fault tolerant control strategy is proposed by the techniques of interval matrix and disturbance local compensation. Sufficient conditions of asymptotic stability of the estimation error systems and the closed-loop systems are derived based on the Lyapunov theory. A fault diagnosis observer and a fault tolerant controller gain matrices are obtained by solving the linear matrix inequalities. Finally, simulations and analysis are performed on the three-motor web-winding system to verify the effectiveness of the proposed distributed fault tolerant control strategy.