Fault diagnosis in a networked control system under communication constraints: a quadrotor application

Karim Chabir; Mohamed Amine Sid; Dominique Sauter

International Journal of Applied Mathematics and Computer Science (2014)

  • Volume: 24, Issue: 4, page 809-820
  • ISSN: 1641-876X

Abstract

top
This paper considers the problem of attitude sensor fault diagnosis in a quadrotor helicopter. The proposed approach is composed of two stages. The first one is the modelling of the system attitude dynamics taking into account the induced communication constraints. Then a robust fault detection and evaluation scheme is proposed using a post-filter designed under a particular design objective. This approach is compared with previous results based on the standard Kalman filter and gives better results for sensor fault diagnosis.

How to cite

top

Karim Chabir, Mohamed Amine Sid, and Dominique Sauter. "Fault diagnosis in a networked control system under communication constraints: a quadrotor application." International Journal of Applied Mathematics and Computer Science 24.4 (2014): 809-820. <http://eudml.org/doc/271928>.

@article{KarimChabir2014,
abstract = {This paper considers the problem of attitude sensor fault diagnosis in a quadrotor helicopter. The proposed approach is composed of two stages. The first one is the modelling of the system attitude dynamics taking into account the induced communication constraints. Then a robust fault detection and evaluation scheme is proposed using a post-filter designed under a particular design objective. This approach is compared with previous results based on the standard Kalman filter and gives better results for sensor fault diagnosis.},
author = {Karim Chabir, Mohamed Amine Sid, Dominique Sauter},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {networked control systems; transmission delays; robust residual generation; adaptive residual evaluation; robust fault detection},
language = {eng},
number = {4},
pages = {809-820},
title = {Fault diagnosis in a networked control system under communication constraints: a quadrotor application},
url = {http://eudml.org/doc/271928},
volume = {24},
year = {2014},
}

TY - JOUR
AU - Karim Chabir
AU - Mohamed Amine Sid
AU - Dominique Sauter
TI - Fault diagnosis in a networked control system under communication constraints: a quadrotor application
JO - International Journal of Applied Mathematics and Computer Science
PY - 2014
VL - 24
IS - 4
SP - 809
EP - 820
AB - This paper considers the problem of attitude sensor fault diagnosis in a quadrotor helicopter. The proposed approach is composed of two stages. The first one is the modelling of the system attitude dynamics taking into account the induced communication constraints. Then a robust fault detection and evaluation scheme is proposed using a post-filter designed under a particular design objective. This approach is compared with previous results based on the standard Kalman filter and gives better results for sensor fault diagnosis.
LA - eng
KW - networked control systems; transmission delays; robust residual generation; adaptive residual evaluation; robust fault detection
UR - http://eudml.org/doc/271928
ER -

References

top
  1. Basseville, M. and Nikiforov, I. (1993). Detection of Abrupt Changes: Theory and Application, Prentice Hall, Englewood Cliffs, NJ. 
  2. Bemporad, A., Heemels, M. and Johansson, M. (2010). Networked Control Systems, Springer, Berlin. Zbl1201.93003
  3. Boyd, S., El Ghaoui, L., Feron, E. and Balakrishnan, V. (1994). Linear Matrix Inequalities in System and Control Theory, Society for Industrial and Applied Mathematics, Philadelphia, PA. Zbl0816.93004
  4. Castellanos, J., Lesecq, S., Marchand, N. and Delamare, J. (2005). A low-cost air data attitude heading reference system for the tourism airplane applications, Sensors 2005, Irvine, CA, USA, pp. 1388-1391. 
  5. Chabir, K., Sauter, D., Abdelkrim, M. and Gayed, M. (2010). Robust fault diagnosis of networked control systems via Kalman filtering, International Journal of Automation and Control 4(3): 343-356. 
  6. Chabir, K., Sauter, D. and Keller, J. (2009). Design of fault isolation filter under network induced delay, 2009 IEEE Conference on Control Applications (CCA) & Intelligent Control (ISIC), St. Petersburg, Russia, pp. 25-30. 
  7. Chabir, K., Sauter, D., Koni Ben Gayed, M. and Abdelkrim, M. (2008). Design of an adaptive Kalman filter for fault detection of networked control systems, 16th Mediterranean Conference on Control and Automation, Ajaccio, Corsica, France, pp. 1124-1129. 
  8. Chen, J. and Patton, R. (1999). Robust residual generation using unknown input observers, Robust Model-based Fault Diagnosis for Dynamic Systems, Kluwer Academic, London, pp. 65-108. 
  9. Darouach, M., Zasadzinski, M. and Boutayeb, M. (2003). Extension of minimum variance estimation for systems with unknown inputs, Automatica 39(5): 867-876. Zbl1036.93058
  10. Ding, S. (2008). Model-based Fault Diagnosis Techniques: Design Schemes, Algorithms, and Tools, Springer, Berlin. 
  11. Fang, H., Ye, H. and Zhong, M. (2007). Fault diagnosis of networked control systems, Annual Reviews in Control 31(1): 55-68. 
  12. Frank, P. and Ding, X. (1997). Survey of robust residual generation and evaluation methods in observer-based fault detection systems, Journal of Process Control 7(6): 403-424. 
  13. Georges, J.-P., Theilliol, D., Cocquempot, V., Ponsart, J.-C. and Aubrun, C. (2011). Fault tolerance in networked control systems under intermittent observations, International Journal of Applied Mathematics and Computer Science 21(4): 639-648, DOI: 10.2478/v10006-011-0050-x. Zbl1283.93097
  14. Gertler, J. (1998). Fault Detection and Diagnosis in Engineering Systems, CRC, New York, NY. 
  15. Goodwin, G., Haimovich, H., Quevedo, D. and Welsh, J. (2004). A moving horizon approach to networked control system design, IEEE Transactions on Automatic Control 49(9): 1427-1445. 
  16. Hespanha, J., Naghshtabrizi, P. and Xu, Y. (2007). A survey of recent results in networked control systems, Proceedings of the IEEE 95(1): 138-162. 
  17. Hu, S.S. and Zhu, Q. (2003). Stochastic optimal control and analysis of stability of networked control systems with long delay, Automatica 39(39): 11. Zbl1175.93240
  18. Isermann, R. (2005). Fault-diagnosis Systems: An Introduction from Fault Detection to Fault Tolerance, Springer, Berlin. 
  19. Jain, T., Yamé, J.J. and Sauter, D. (2012). Model-free reconfiguration mechanism for fault tolerance, International Journal of Applied Mathematics and Computer Science 22(1): 125-137, DOI: 10.2478/v10006-012-0009-6. Zbl1273.93051
  20. Jamouli, H., El Hail, M.A. and Sauter, D. (2012). A mixed active and passive GLR test for a fault tolerant control system, International Journal of Applied Mathematics and Computer Science 22(1): 9-23, DOI: 10.2478/v10006-012-0001-1. Zbl1276.93079
  21. Li, S., Wang, Y., Feng, X. and Sun, Y. (2006). Guaranteed cost control of networked control systems with time-delays and packet losses, International Journal of Wavelets, Multiresolution and Information Processing 4(4): 691-706. Zbl1143.93352
  22. Lincoln, B. and Bernhardsson, B. (2000). Optimal control over networks with long random delays, Proceedings of the International Symposium on Mathematical Theory of Networks and Systems, Perpignan, France. 
  23. Llanos, D., Staroswiecki, M., Colomer, J. and Meléndez, J. (2007). Transmission delays in residual computation, IET Control Theory & Applications 1(5): 1471-1476. 
  24. Mirkin, L. and Palmor, Z. (2005). Control issues in systems with loop delays, in D. Hristu-Varsakelis and W. Levine (Eds.), Handbook of Networked and Embedded Control Systems, Birkhäuser, Boston, MA, pp. 627-648. 
  25. Montestruque, L. and Antsaklis, P. (2007). Static and dynamic quantization in model-based networked control systems, International Journal of Control 80(1): 87-101. Zbl1112.68006
  26. Morawski, M. and Zajączkowski, A.M. (2010). Approach to the design of robust networked control systems, International Journal of Applied Mathematics and Computer Science 20(4): 689-698, DOI: 10.2478/v10006-010-0052-0. 
  27. Niculescu, S. (2001). Delay Effects on Stability: A Robust Control Approach, Springer, London. Zbl0997.93001
  28. Nilsson, J., Bernhardsson, B. and Wittenmark, B. (1998). Stochastic analysis and control of real-time systems with random time delays, Automatica 34(1): 57-64. Zbl0908.93073
  29. Pan, Y., Marquez, H. and Chen, T. (2006). Stabilization of remote control systems with unknown time varying delays by LMI techniques, International Journal of Control 79(07): 752-763. Zbl1330.93192
  30. Patton, R., Kambhampati, C., Casavola, A., Zhang, P., Ding, S. and Sauter, D. (2007). A generic strategy for fault-tolerance in control systems distributed over a network, European Journal of Control 13(2-3): 280-296. Zbl1293.93255
  31. Rahmani, B., Markazi, A. and Mozayani, N. (2008). Real time prediction of time delays in a networked control system, 3rd International Symposium on Communications, Control and Signal Processing ISCCSP 2008, St. Julians, Malta, pp. 1242-1245. 
  32. Ray, A. and Halevi, Y. (1988). Integrated communication and control systems, Part II: Design considerations, ASME Journal of Dynamic Systems, Measurement and Control 110(4): 374-381. 
  33. Richard, J. (2003). Time-delay systems: An overview of some recent advances and open problems, Automatica 39(10): 1667-1694. Zbl1145.93302
  34. Sahebsara, M., Chen, T. and Shah, S. (2007). Optimal filtering with random sensor delay, multiple packet dropout and uncertain observations, International Journal of Control 80(2): 292-301. Zbl1140.93486
  35. Sauter, D. and Boukhobza, T. (2006). Robustness against unknown networked induced delays of observer based FDI, 6th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Safeprocess 2006, Beijing, China, pp. 300-305. 
  36. Sauter, D., Li, S. and Aubrun, C. (2009). Robust fault diagnosis of networked control systems, International Journal of Adaptive Control and Signal Processing 23(8): 722-736. Zbl1193.93169
  37. Sauter, D., Sid, M.A., Aberkane, S. and Maquin, D. (2013). Co-design of safe networked control systems, Annual Reviews in Control 37(2): 321-332. 
  38. Schöllig, A., Münz, U. and Allgöwer, F. (2007). Topology-dependent stability of a network of dynamical systems with communication delays, Proceedings of the European Control Conference, Kos, Greece, pp. 1197-1202. 
  39. Sid, M.A., Aberkane, S., Sauter, D. and Maquin, D. (2012). Fault isolation filter and sensors scheduling co-design for networked control systems, CCA-IEEE Multi Conference on Systems and Control, Dubrovnik, Croatia, pp. 1691-1696. 
  40. Simon, D., Song, Y.-Q. and Aubrun, C. (2013). Co-design Approaches to Dependable Networked Control Systems, Wiley, Hoboken, NJ. 
  41. Stoustrup, J. and Zhou, K. (2008). Robustness issues in fault diagnosis and fault tolerant control, Journal of Control Science and Engineering 2008, Article ID: 251973. 
  42. Tayebi, A. and McGilvray, S. (2006). Attitude stabilization of a VTOL quadrotor aircraft, IEEE Transactions on Control Systems Technology 14(3): 562-571. 
  43. Tipsuwan, Y. and Chow, M. (2003). Control methodologies in networked control systems, Control Engineering Practice 11(10): 1099-1111. 
  44. Wang, Y., Ding, S., Hao, Y. and Guizeng, W. (2008). A new fault detection scheme for networked control systems subject to uncertain time-varying delay, IEEE Transactions on Signal Processing 56(10): 5258-5268. 
  45. Wang, Y., Ye, H., Ding, S., Wang, G. and Wan, Y. (2009). Observer based residual generation and evaluation of networked control systems subject to random packet dropout, 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Barcelona, Spain, pp. 822-827. 
  46. Wang, Y., Ye, H. and Wang, G. (2006). A new method for fault detection of networked control systems, 1st IEEE Conference on Industrial Electronics and Applications, Singapore, pp. 1-4. 
  47. Weber, P., Boussaid, B., Khelassi, A., Theilliol, D. and Aubrun, C. (2012). Reconfigurable control design with integration of a reference governor and reliability indicators, International Journal of Applied Mathematics and Computer Science 22(1): 139-148, DOI: 10.2478/v10006-012-0010-0. Zbl1273.93058
  48. Xia, Y., Fu, M. and Liu, G.-P. (2011). Analysis and Synthesis of Networked Control Systems, Springer, Berlin. Zbl1228.93004
  49. Xiong, J. and Lam, J. (2007). Stabilization of linear systems over networks with bounded packet loss, Automatica 43(1): 80-87. Zbl1140.93383
  50. Ye, H. and Ding, S. (2004). Fault detection of networked control systems with network-induced delay, Proceedings of the 8th International Conference on Control, Automation, Robotics and Vision, Kunming, China, pp. 294-297. 
  51. Yi, J., Wang, Q., Zhao, D. and Wen, J. (2007). BP neural network prediction-based variable-period sampling approach for networked control systems, Applied Mathematics and Computation 185(2): 976-988. Zbl1122.93004
  52. Yu, M., Wang, L., Chu, T. and Hao, F. (2004). An LMI approach to networked control systems with data packet dropout and transmission delays, 43rd IEEE Conference on Decision and Control, Nassau, The Bahamas, Vol. 4, pp. 3545-3550. 
  53. Zhang, L., Shi, Y., Chen, T. and Huang, B. (2005). A new method for stabilization of networked control systems with random delays, IEEE Transactions on Automatic Control 50(8): 1177-1181. 
  54. Zhang, P., Ding, S., Frank, P. and Sader, M. (2004). Fault detection of networked control systems with missing measurements, 5th Asian Control Conference, Melbourne, Australia, Vol. 2, pp. 1258-1263. 
  55. Zheng, Y., Fang, H., Wang, H.O. and Xie, L. (2003). Fault detection approach for networked control system based on a memoryless reduced-order observer, Acta Automatica Sinica 29(4): 559-566. 

NotesEmbed ?

top

You must be logged in to post comments.

To embed these notes on your page include the following JavaScript code on your page where you want the notes to appear.

Only the controls for the widget will be shown in your chosen language. Notes will be shown in their authored language.

Tells the widget how many notes to show per page. You can cycle through additional notes using the next and previous controls.

    
                

Note: Best practice suggests putting the JavaScript code just before the closing </body> tag.