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An output-feedback direct adaptive control problem is considered for a class of linear time delayed measurements systems with polytopic-type parameter uncertainties and disturbances. The objective is to make the system output follow the output of a system model and to attain guaranteed H∞ performance of the proposed adaptive control scheme. The time-delay is either constant (known) or time-varying...
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...
Summary form only. Electronic devices are starting to become widely available for monitoring and controlling large-scale distributed systems. These devices may include sensing capabilities for online measurement, actuators for controlling certain variables, microprocessors for processing information and making realtime decisions based on designed algorithms, and telecommunication units for exchanging...
A model-based controller architecture for fault-tolerant control (FTC) is presented in this paper. The controller architecture is based on the Youla-Jabr-Bongiorno-Kucera (YJBK) parameterization. The FTC architecture consists of two central parts, fault detection and isolation (FDI) part and a controller reconfiguration part. The theoretical basis for the architecture will be given followed by an...
The work treats the problem of fault detection for processes described by partial differential equations as that of maximizing the power of a parametric hypothesis test which checks whether or not system parameters have nominal values. A simple node activation strategy is discussed for the design of a sensor network deployed in a spatial domain that is supposed to be used while detecting changes in...
All the methods for Fault Detection and Isolation (FDI) involve internal parameters, often called hyperparameters, that have to be carefully tuned. Most often, tuning is ad hoc and this makes it difficult to ensure that any comparison between methods is unbiased. We propose to consider the evaluation of the performance of a method with respect to its hyperparameters as a computer experiment, and to...
In this work, we consider an observer-based fault detection (FD) problem for linear time invariant systems at DC (ω = 0). A simple parameterization of all optimal solutions is derived such that the FD filter generates a residual signal which minimizes the sensitivity of the residual to disturbances while maintaining a minimum level of sensitivity to faults. Linear matrix inequality (LMI) techniques...
In this paper, a new energy based fault detection method for dissipative systems is proposed. Based on the dissipative properties, a so-called system energy balance will be first constructed. Then the fault detection for full states measurable case is carried out by checking the validity of this energy balance. For states unmeasurable case, the fault detection system design is achieved by an optimal...
This paper presents the principles of a highly autonomous fault diagnosis system with plug-and-play capabilities that consists in solutions for auto-generating tests from models and for computing diagnoses from the symptoms coming from the generated tests. The operation principles are detailed and technological aspects for implementation are discussed. Thanks to these diagnosis systems, installers...
This paper deals with an important practical control problem in systems that can switch between different operating modes. We presents a self-conditioned implementation of any two-degree-of-freedom (TDOF) controller which allows a smooth transition when switching between a controller acting in closed-loop and another controller in a bank of idle controllers waiting to take over the control loop. Here,...
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...
This paper presents a fault tolerant multisensor strategy for feedback control of a class of nonlinear systems upon a geometrical approach. A key point to ensure fault tolerance is the separation between healthy and faulty closed-loop behavior. Here we achieve this through set theoretic operations upon sets describing the healthy/faulty behavior of the system. The results rely both on an appropriate...
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 approach for state filtering of dynamic stochastic discrete-time systems affected by unknown inputs is presented. The proposed state filtering scheme includes a restricted diagonal detection filter generating a set of minimum variance white detection signals, each of them sensitive to a particular component of the unknown input vector. After having tested the statistical effect...
A new methodology is presented in this paper which incorporates the marginalized likelihood ratio (MLR) test for online fault detection and isolation. The proposed methodology reduces the number of optimization problems required for isolating the fault by means of a simple integration scheme. Moreover, the dependency on the accuracy of the statistical fault detection and confirmation tests is relaxed...
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...
System evolution, such as addition or replacement of a component, may necessitate complete re-design. Such redesign may be needed to respect new or updated requirements. The models then have to be modified. In this paper, we present a procedure for reconfiguration of a discrete event system (DES) controller. Based on supervisory control theory (SCT), the objective of this work is to show how the SCT...
The problem of active fault tolerant control (FTC) design with reconfiguration mechanism for linear systems with external disturbances is addressed. The solution is based on the supervisory control approach. Starting from the well known in FTC literature conditions for independent design of fault detection, isolation and fault compensation systems we propose new set of united conditions and the computational...
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