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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...
This paper is aimed at robust control of a Permanent magnet DC motor based actuator used in the control of the inlet swirl valve of a diesel engine. The actuator has uncertainty issues related to parameter identification and variation, and load disturbance. These issues lead to faults in controllers, resulting in poor performance and failure. The actuator has been modeled taking parameter uncertainties...
A Fault Detection and Isolation (FDI) method for a generic 3D aircraft is presented. The behavior of the aircraft is described by a nonlinear control-affine model, which is closed-loop controlled by a classical guidance, navigation and control (GNC) algorithm. The proposed FDI procedure exploits the redundancy induced by this control module, along with the accelerations measured by the Inertial Measurement...
In this paper the design of sliding mode observers for gyro and thruster fault detection and isolation in the Mars Express satellite is presented. The results are part of a project with the goal of examining the potential applicability of the sliding mode observer technique to on-board satellite deployment. A Monte Carlo campaign has been performed to assess the performance and robustness of the sliding...
Significant research has been carried out over the past three decades in the area of fault tolerant control. Most methods available in the chemical engineering literature are capable of detecting, identifying, estimating and accommodating faults for nonlinear processes with continuous states without state dependent and controlled switching. This work is aimed at developing a method for diagnosing...
This paper presents the application of standard PCA technique to fault diagnosis system design. Based on the fault detectability analysis of existed test statistics, the joint use of some test statistics is recommended. Our further study is dedicated to develop a fault isolation approach based on likelihood ratio test, on which the off-set and scaling fault can be easily isolated with explicit off-set...
Leaks are present to some extent in all water-distribution systems. This paper proposes a leakage localization method based on pressure measurements and the application of principal component analysis to the fault diagnosis in water distribution systems. First, some theoretical basics are introduced, from model building and modeling the fault effects to monitoring. Then a simple hydraulic case study...
This work focuses on fault detection applied to static converters. A new method for estimating parameters of dynamic model of the buck converter is proposed, based on recent algebraic parameters estimators. The diagnosis scheme developed in this paper computes online the filter capacitor aging by determining the equivalent series resistance (ESR). The capacitance and inductance value are also estimated...
The problem studied in this paper is the control of discrete event systems subject to strict temporal constraints using (max, +) algebra. Initially we sought necessary and sufficient conditions for the existence of a causal control law guaranteeing the respect of the temporal constraints. Subsequently, a method for calculating the control law, if any, is proposed. The application which we are interested...
A unified approach to the problem of fault diagnosis is considered for the cases of continuous-time and discrete-time nonlinear and linear system models as well as for discrete-event model. The feature of this approach is that it allows obtaining the unique on the algorithmic level solution of the problem for all above types of the models. Conventional differential geometric and pair algebra of partitions...
The general context of this paper is the design of active Fault Tolerant Control (FTC) strategy for Linear Time Invariant (LTI) systems. Active FTC strategies must ensure good fault compensation when a fault is detected by the Fault Detection and Isolation (FDI) unit. FDI and FTC performances are thus highly connected. Since a FTC problem is above all a control problem, the proposed work focuses on...
The present paper uses set theoretic methods for the design of a fault tolerant control scheme in the case of a multisensor application. The basic principle is the separation of invariant sets for the estimations of the state and tracking error under healthy and faulty functioning. The fault scenario is based on abrupt changes of the observation equations. The main contribution is the introduction...
The paper presents the fault isolation method for linear systems taking into account the residual dynamics. The method is based on the analysis of the sequence of observed symptoms assuming the residual models. Additionally, the method of designing the secondary residuals that allows to achieve particular symptom sequence for particular fault is proposed. Described methods are illustrated with a simple...
The growing complexity of the control systems and the increased use of nonlinear models cause a dramatic increase in the computational requirements of MPCs. Therefore, more computationally efficient MPC are needed. This paper presents a two-phase MPC approach for decreasing computational demand without sacrificing its efficiency. The first phase of the MPC treats the input variables as independent...
In this paper the problem of the trajectory tracking for manipulators is addressed. A proposed non-adaptive nonlinear controller uses the modified generalized velocity components (MGVC) arising from the manipulator mass decomposition. The control scheme is based on equations of motion with the identity mass matrix. It is shown that the controller is globally exponentially stable. Theoretical considerations...
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...
This paper proposes two observer-based FDI strategies for nonlinear systems represented by a particular class of multiple model using heterogeneous submodels. The structure of this interesting multiple model is firstly presented in order to design two kinds of state observers. The first observer, known as proportional observer (PO), is an extension of the classic Luenberger observer, in this way,...
This paper deals with switching detection and recognition of current operating mode in hybrid systems, where the nonlinear modes are represented by a Takagi Sugeno model. A data-based projection method is used to generate a set of signals, named residuals. This method uses only the input/output known signals and the kind of model (linear, bilinear, ...); the precise value of the model parameters is...
The characterization of frequency response functions for convergent systems is considered in this paper. Besides a couple of approaches available in the literature, this paper is focused on the frequency response function proposed recently for a class of non-linear systems which are called convergent. Using some properties of convergent systems a characterization of a frequency response function based...
In this work the application of a full-order observer to a binary distillation column, using a strategy to simplify the nonlinear model is presented. Mainly for process system, it is feasible to use differential-algebraic equations for describing the dynamical behavior of the plant. A mathematical model is an extension of the traditional chemical and physical laws (such as the laws of conservation...
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