Displaying similar documents to “Fault diagnosis in a networked control system under communication constraints: a quadrotor application”

Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs

Zhaohui Cen, Hassan Noura, Younes Al Younes (2015)

International Journal of Applied Mathematics and Computer Science

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A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal control, active and passive FTC and fault parking is proposed in this paper. Firstly, an adaptive Thau observer (ATO) is presented to estimate the quadrotor rotor fault magnitudes, and then faults with different magnitudes and time-varying natures are rated into corresponding fault severity levels based on the pre-defined fault-tolerant boundaries. Secondly, a...

Active fault tolerant control of nonlinear systems: The cart-pole example

Marcello Bonfè, Paolo Castaldi, Nicola Mimmo, Silvio Simani (2011)

International Journal of Applied Mathematics and Computer Science

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This paper describes the design of fault diagnosis and active fault tolerant control schemes that can be developed for nonlinear systems. The methodology is based on a fault detection and diagnosis procedure relying on adaptive filters designed via the nonlinear geometric approach, which allows obtaining the disturbance de-coupling property. The controller reconfiguration exploits directly the on-line estimate of the fault signal. The classical model of an inverted pendulum on a cart...

SMAC-FDI: A single model active fault detection and isolation system for unmanned aircraft

Guillaume J.J. Ducard (2015)

International Journal of Applied Mathematics and Computer Science

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This article presents a single model active fault detection and isolation system (SMAC-FDI) which is designed to efficiently detect and isolate a faulty actuator in a system, such as a small (unmanned) aircraft. This FDI system is based on a single and simple aerodynamic model of an aircraft in order to generate some residuals, as soon as an actuator fault occurs. These residuals are used to trigger an active strategy based on artificial exciting signals that searches within the residuals...

Supervisory fault tolerant control of the GTM UAV using LPV methods

Tamás Péni, Báltin Vanek, Zoltán Szabó, József Bakor (2015)

International Journal of Applied Mathematics and Computer Science

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A multi-level reconfiguration framework is proposed for fault tolerant control of over-actuated aerial vehicles, where the levels indicate how much authority is given to the reconfiguration task. On the lowest, first level the fault is accommodated by modifying only the actuator/sensor configuration, so the fault remains hidden from the baseline controller. A dynamic reallocation scheme is applied on this level. The allocation mechanism exploits the actuator/sensor redundancy available...

A Model-Based Fault Detection and Diagnosis Scheme for Distributed Parameter Systems: A Learning Systems Approach

Michael A. Demetriou (2010)

ESAIM: Control, Optimisation and Calculus of Variations

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In this note, fault detection techniques based on finite dimensional results are extended and applied to a class of infinite dimensional dynamical systems. This special class of systems assumes linear plant dynamics having an abrupt additive perturbation as the fault. This fault is assumed to be linear in the (unknown) constant (and possibly functional) parameters. An observer-based model estimate is proposed which serves to monitor the system's dynamics for unanticipated failures, and...

Actuator fault diagnosis for flat systems: A constraint satisfaction approach

Ramatou Seydou, Tarek Raissi, Ali Zolghadri, Denis Efimov (2013)

International Journal of Applied Mathematics and Computer Science

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This paper describes a robust set-membership-based Fault Detection and Isolation (FDI) technique for a particular class of nonlinear systems, the so-called flat systems. The proposed strategy consists in checking if the expected input value belongs to an estimated feasible set computed using the system model and the derivatives of the measured output vector. The output derivatives are computed using a numerical differentiator. The set-membership estimator design for the input vector...

Robust fault detection of singular LPV systems with multiple time-varying delays

Amir Hossein Hassanabadi, Masoud Shafiee, Vicenç Puig (2016)

International Journal of Applied Mathematics and Computer Science

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In this paper, the robust fault detection problem for LPV singular delayed systems in the presence of disturbances and actuator faults is considered. For both disturbance decoupling and actuator fault detection, an unknown input observer (UIO) is proposed. The aim is to compute a residual signal which has minimum sensitivity to disturbances while having maximum sensitivity to faults. Robustness to unknown inputs is formulated in the sense of the H∞ -norm by means of the bounded real...