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The problem of fault diagnosis in thrusters of autonomous underwater vehicle is studied. Solution of the problem involves residual generation as a result of mismatch between vehicle behaviour and its reference model behaviour followed by decision making via evaluation of the residual. Sensitivity theory based methods are developed for the design of both residual generator and decision making procedure...
In this work, a new fault tolerant control (FTC) methodology is proposed to deal with the potential problems due to possible fault scenarios. For this purpose, a state estimation scheme has been developed using an adaptive unscented Kalman filter (AUKF) approach. A fuzzy-based decision making (FDM) algorithm is introduced to diagnose sensor and/or actuator faults. The proposed fault detection and...
In this paper a new distributed fault detection and isolation (FDI) methodology is proposed in the form of a multi-agent network representing a combination of a consensus based FDI observer for residual generation and a consensus based decision making strategy for change detection, applicable in real time. The proposed observer is based on overlapping system decomposition and a combination between...
A routing-scheduling problem in a class of manufacturing systems is considered for a group of autonomous vehicles moving in a common working space to perform a given set of tasks. The vehicles subject to unforeseen events, e.g. disruptions, failures, collisions which should be omitted, requiring the adaptation of originally developed schedules. Two approaches based on proactive and reactive scheduling...
The paper deals with a general formulation of the optimal active change detection and control problem for stochastic systems, which includes several design problems as special cases. The special case treated in this paper can be characterized as a decision making problem where decisions are transformed into inputs of a system and the aim is to control the system. The utilization of the general formulation...
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