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Intermittent actuator and sensor faults tolerant are simultaneously considered in a distributed control system with imperfect communication network. The asynchronous measurements of different output variables in one sampling period are synchronized through a novel two‐stage model‐based projection method. Different from centralized control network, in both layer‐to‐layer and in‐layer communication, the packet delay, loss and disordering are corrected by the predicted data from model predictive control. Moreover, a completely distributed state observer is established for both system states and sensor faults problem with bounded noise uncertainties. For the intermittent actuator faults, actuator plug‐and‐play design methods based on model predictive control has been introduced, making the actuator faults estimation omitted. The distributed stability conditions are derived for the proposed fault‐tolerant controller, and the online feasibility is explained in detail. Numerical simulation is given to verify the design procedure. 相似文献
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以故障发生部位为分类视角,分别从传感器故障、执行器故障及其他部件故障3个方面,较为详细地对近5年非线性系统主动容错控制的研究进展情况进行了归纳和总结,重点讨论了执行器故障的容错控制问题,并对所存在的问题与未来的发展趋势进行了探讨。 相似文献
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Anjali P. Deshpande Sachin C. Patwardhan Shankar S. Narasimhan 《Journal of Process Control》2009,19(2):187-204
There is growing realization that on-line model maintenance is the key to realizing long term benefits of a predictive control scheme. In this work, a novel intelligent nonlinear state estimation strategy is proposed, which keeps diagnosing the root cause(s) of the plant model mismatch by isolating the subset of active faults (abrupt changes in parameters/disturbances, biases in sensors/actuators, actuator/sensor failures) and auto-corrects the model on-line so as to accommodate the isolated faults/failures. To carry out the task of fault diagnosis in multivariate nonlinear time varying systems, we propose a nonlinear version of the generalized likelihood ratio (GLR) based fault diagnosis and identification (FDI) scheme (NL-GLR). An active fault tolerant NMPC (FTNMPC) scheme is developed that makes use of the fault/failure location and magnitude estimates generated by NL-GLR to correct the state estimator and prediction model used in NMPC formulation. This facilitates application of the fault tolerant scheme to nonlinear and time varying processes including batch and semi-batch processes. The advantages of the proposed intelligent state estimation and FTNMPC schemes are demonstrated by conducting simulation studies on a benchmark CSTR system, which exhibits input multiplicity and change in the sign of steady state gain, and a fed batch bioreactor, which exhibits strongly nonlinear dynamics. By simulating a regulatory control problem associated with an unstable nonlinear system given by Chen and Allgower [H. Chen, F. Allgower, A quasi infinite horizon nonlinear model predictive control scheme with guaranteed stability, Automatica 34(10) (1998) 1205–1217], we also demonstrate that the proposed intelligent state estimation strategy can be used to maintain asymptotic closed loop stability in the face of abrupt changes in model parameters. Analysis of the simulation results reveals that the proposed approach provides a comprehensive method for treating both faults (biases/drifts in sensors/actuators/model parameters) and failures (sensor/ actuator failures) under the unified framework of fault tolerant nonlinear predictive control. 相似文献
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研究具有多通道数据传输的飞行器网络控制系统故障检测滤波器(FDF)设计问题.考虑每个通道存在各自的网络时延,且丢包符合Markov随机过程.首先,将系统建模为转移概率部分已知的离散Markov跳变线性系统,并设计了基于观测器的故障检测滤波器,将故障检测问题转化为H∞滤波问题;然后,利用LMI工具给出了FDF的可解条件和求解方法;最后,通过某飞行器网络控制系统的数值仿真实验验证了所提出方法的有效性. 相似文献
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Montadher Sami Ron J. Patton 《International Journal of Control, Automation and Systems》2013,11(6):1149-1161
The goal of this paper is to describe a novel fault tolerant tracking control (FTTC) strategy based on robust fault estimation and compensation of simultaneous actuator and sensor faults. Within the framework of fault tolerant control (FTC) the challenge is to develop an FTTC design strategy for nonlinear systems to tolerate simultaneous actuator and sensor faults that have bounded first time derivatives. The main contribution of this paper is the proposal of a new architecture based on a combination of actuator and sensor Takagi-Sugeno (T-S) proportional state estimators augmented with proportional and integral feedback (PPI) fault estimators together with a T-S dynamic output feedback control (TSDOFC) capable of time-varying reference tracking. Within this architecture the design freedom for each of the T-S estimators and the control system are available separately with an important consequence on robust L 2 norm fault estimation and robust L 2 norm closed-loop tracking performance. The FTTC strategy is illustrated using a nonlinear inverted pendulum example with time-varying tracking of a moving linear position reference. 相似文献
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In this paper, the fault-tolerant control (FTC) problem is investigated for a class of multi-input multiple output nonlinear systems with time-varying delays, and an active FTC method is proposed. The controlled system contains unknown nonlinear functions, unknown control gain functions and actuator faults, which integrates time-varying bias and gain faults. Then, fuzzy logic systems are used to approximate the unknown nonlinear functions and unknown control gain functions, fuzzy adaptive observers are used for fault detection and isolation. Further, based on the obtained information, an accommodation method is proposed for compensating the actuator faults. It is shown that all the variables of the closed-loop system are semi-globally uniformly bounded, the tracking error converges to an arbitrary small neighbourhood of the origin. A simulation is given to demonstrate the effectiveness of the proposed approach. 相似文献
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基于高增益鲁棒滑模观测器的故障检测和隔离 总被引:1,自引:0,他引:1
针对一类同时具有执行器和传感器故障的不确定线性系统,讨论了基于观测器的故障检测和隔离方法.首先,通过引入增维向量,使得在构造的增维系统中,故障向量包含了原系统的执行器故障和传感器故障.通过构造辅助输出使增维系统的观测器匹配条件得以满足,同时设计高增益滑模观测器对辅助输出进行估计.然后,对增维系统构造鲁棒滑模观测器并用作故障检测观测器,通过滑模控制项来抑制干扰,使观测器具有鲁棒性.在此基础上,结合多观测器故障隔离思想,提出了可以同时对执行器故障和传感器故障进行检测和隔离的方法. 最后,通过对一个五阶飞行器模型进行仿真,证明了所提方法的有效性. 相似文献
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Junhan Lee Chan Gook Park 《International Journal of Control, Automation and Systems》2012,10(3):506-516
This paper presents a new scheme for fault detection and isolation in a satellite system. The purpose of this paper is to develop detection, isolation and identification algorithms based on a cascade filter for both total and partial faults in a satellite attitude control system (ACS). The cascade filter consists of a decentralized Kalman filter (DKF) and a bank of interacting multiple model (IMM) filters. The cascade filter is utilized for detection and diagnosis of anticipated sensor and actuator faults in a satellite ACS. Other fault detection and isolation (FDI) schemes are compared with the proposed FDI scheme. The FDI procedure using a cascade filter was developed in three stages. In the first stage, two local filters and a master filter detect sensor faults. In the second stage, the FDI scheme checks sensor residuals to isolate sensor faults, and 11 Extended Kalman filters with actuator fault models detect wherever actuator faults occur. In the third stage of the FDI scheme, four filters identify the fault type, which is either a total or partial fault. An important feature of the proposed FDI scheme is that it can decrease fault isolation time and accomplish not only fault detection and isolation but also fault type identification using a scalar penalty in the conditional density function. 相似文献
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In this paper, the problem of control and fault recovery for a team of autonomous underwater vehicles in the presence of loss of effectiveness (LOE) actuator faults is addressed. Towards this end, two different fault recovery control strategies based on the model predictive control technique as well as the dynamic game theory are proposed and developed. Given the allowable information that can be exchanged among the agents, both centralised and semi-decentralised recovery control schemes are considered and their associated corresponding fault recovery strategies are developed. The proposed active fault recovery control strategies incorporate both the online inaccurate as well as delayed actuator fault estimates to reconfigure the nominal (healthy state) controllers. The effectiveness of the proposed semi-decentralised fault recovery control schemes is quantitatively investigated through extensive simulation case studies considering various LOE actuator fault severities in one or more unmanned vehicles as well as fault detection and isolation module imperfections such as fault estimation error and time delays in detecting the faults. The simulation results demonstrate and illustrate that our proposed semi-decentralised recovery control scheme can maintain acceptable degraded tracking and formation keeping performance of both the faulty and healthy agents in the team with lower computational and communication bandwidth requirements as well as lower or fairly close control effort cost as compared to the centralised control recovery scheme. 相似文献
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In this paper, a fault tolerant control with the consideration of actuator fault for a networked control system (NCS) with
packet loss is addressed. The NCS with data packet loss can be described as a switched system model. Packet loss dependent
Lyapunov function is used and a fault tolerant controller is proposed respectively for arbitrary packet loss process and Markovian
packet loss process. Considering a controlled plant with external energy-bounded disturbance, a robust H
∞ fault tolerant controller is designed for the NCS. These results are also expanded to the NCS with packet loss and networked-induced
delay. Numerical examples are given to illustrate the effectiveness of the proposed design method. 相似文献
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In this paper, a new active fault tolerant control (AFTC) methodology is proposed based on a state estimation scheme for fault detection and identification (FDI) to deal with the potential problems due to possible fault scenarios. A bank of adaptive unscented Kalman filters (AUKFs) is used as a core of FDI module. The AUKF approach alleviates the inflexibility of the conventional UKF due to constant covariance set up, leading to probable divergence. A fuzzy-based decision making (FDM) algorithm is introduced to diagnose sensor and/or actuator faults. The proposed FDI approach is utilized to recursively correct the measurement vector and the model used for both state estimation and output prediction in a model predictive control (MPC) formulation. Robustness of the proposed FTC system, H∞ optimal robust controller and MPC are combined via a fuzzy switch that is used for switching between MPC and robust controller such that FTC system is able to maintain the offset free behavior in the face of abrupt changes in model parameters and unmeasured disturbances. This methodology is applied on benchmark three-tank system; the proposed FTC approach facilitates recovery of the closed loop performance after the faults have been isolated leading to an offset free behavior in the presence of sensor/actuator faults that can be either abrupt or drift change in biases. Analysis of the simulation results reveals that the proposed approach provides an effective method for treating faults (biases/drifts in sensors/actuators, changes in model parameters and unmeasured disturbances) under the unified framework of robust fault tolerant control. 相似文献
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LI Ji & ZHANG Hongyue School of Automation Science & Electrical Engineering Beihang University Beijing China Correspondence should be addressed to Zhang Hongyue 《中国科学F辑(英文版)》2005,48(3):335-353
Model-based methods are most popular in fault detection and have received consid-erable attention in the past two decades[1,2]. Based on them, many kinds of detection al-gorithms have been developed for fault detection and diagnosis[3,4]. Usually those algo-rithms are adaptive algorithms or have adaptive structures including neural networks and neuro-fuzzy networks. But the errors in the models may decrease the robustness of the methods and increase the false alarm rate. A real-time predictive… 相似文献
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Ledi Zhang Shousheng Xie Yu Zhang Litong Ren Bin Zhou Hao Wang Jingbo Peng Lei Wang Yingjie Li 《Asian journal of control》2020,22(2):788-802
With a focus on aero‐engine distributed control systems (DCSs) with Markov time delay, unknown input disturbance, and sensor and actuator simultaneous faults, a combined fault tolerant algorithm based on the adaptive sliding mode observer is studied. First, an uncertain augmented model of distributed control system is established under the condition of simultaneous sensor and actuator faults, which also considers the influence of the output disturbances. Second, an augmented adaptive sliding mode observer is designed and the linear matrix inequality (LMI) form stability condition of the combined closed‐loop system is deduced. Third, a robust sliding mode fault tolerant controller is designed based on fault estimation of the sliding mode observer, where the theory of predictive control is adopted to suppress the influence of random time delay on system stability. Simulation results indicate that the proposed sliding mode fault tolerant controller can be very effective despite the existence of faults and output disturbances, and is suitable for the simultaneous sensor and actuator faults condition. 相似文献
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This paper focuses on the longitudinal control of an Airbus passenger aircraft in the presence of elevator jamming faults. In particular, in this paper, we address permanent and temporary actuator jamming faults using a novel reconfigurable fault‐tolerant predictive control design. Due to their different consequences on the available control authority and fault duration, the above 2 actuator jamming faults need to be distinguished so that appropriate control reconfigurations can be adopted accordingly. Their similarity in symptoms, however, prevents an effective discrimination of the root cause of the jamming when using only a passive fault‐diagnosis approach. Hence, we propose the use of model predictive control (MPC) as a fault‐tolerant controller to actively help the fault‐detection (FD) unit discriminate between a permanent and a temporary jamming fault, while ensuring the performance of the aircraft. The MPC controller and the FD unit closely interact during the detection and diagnosis phases. In particular, every time a fault is detected, the FD module commands the MPC controller to perform a predefined sequence of reconfigurations to diagnose the root cause of the fault. An artificial reference signal that accounts for changes in the actuator operative ranges is used to guide the system through this sequence of reconfigurations. Our strategy is demonstrated on an Airbus passenger aircraft simulator. 相似文献
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针对临近空间飞行器中未知的执行器控制效益损失和漂移故障,提出了一种模型参考滑模容错控制方法,保证故障系统对参考模型的稳定跟踪性能。利用跟踪误差系统设计容错控制器,首先构造积分滑模面,以增强系统鲁棒性并消除稳态误差;随后,在无需故障诊断单元的条件下设计模型参考滑模控制律,使其增益能实现自适应调节以处理未知故障影响,其中自适应律基于李雅普诺夫稳定性理论设计,保证闭环系统稳定。在临近空间飞行器纵向动力学模型上的仿真验证表明,该方法能处理执行器中发动机节流阀调节通道和升降舵偏转量通道的不同故障,保证系统获得满意的鲁棒容错跟踪性能。 相似文献