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Mathematical Problems in Engineering
Volume 2013, Article ID 647571, 6 pages
Research Article

A Design Method for Fault Reconfiguration and Fault-Tolerant Control of a Servo Motor

1College of Electrical and Information Engineering, Hunan University of Technology, Zhuzhou, Hunan 412007, China
2College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, Hunan 410073, China

Received 13 February 2013; Accepted 8 July 2013

Academic Editor: Yuqiang Wu

Copyright © 2013 Jing He and Changfan Zhang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A design scheme that integrates fault reconfiguration and fault-tolerant position control is proposed for a nonlinear servo system with friction. Analysis of the non-linear friction torque and fault in the system is used to guide design of a sliding mode position controller. A sliding mode observer is designed to achieve fault reconfiguration based on the equivalence principle. Thus, active fault-tolerant position control of the system can be realized. A real-time simulation experiment is performed on a hardware-in-loop simulation platform. The results show that the system reconfigures well for both incipient and abrupt faults. Under the fault-tolerant control mechanism, the output signal for the system position can rapidly track given values without being influenced by faults.