基于双通道事件触发机制的水面无人艇同时故障检测与控制

本文研究双通道事件触发通讯机制下水面无人艇(USV)的同时故障检测和控制(SFDC)问题.考虑执行器故障和外部扰动,建立了SFDC框架以同时实现控制和故障检测目标.为了节约有限的通信资源和系统能源,在传感器–控制器通道和控制器–执行器通道分别部署了积分型事件触发器.在事件触发的通讯机制下,提出了故障检测器和控制器的联合设计准则.最后, USV的仿真结果验证了提出的基于事件触发的SFDC方法的有效性.

Simultaneous fault detection and control for unmanned surface vehicles with a dual-channel event-triggered scheme

This paper investigates the problem of simultaneous fault detection and control (SFDC) for an unmanned surface vehicle (USV) with a dual-channel event-triggered communication mechanism. Considering the actuator faults and external disturbance, an SFDC framework is established to achieve the control and fault detection objectives, simultaneously. To save limited communication and energy resources, two integral-based event generators are deployed in the sensor-to-controller channel and the controller-to-actuator channel, respectively. Under the event-triggered communication mechanism, the co-design criterion of fault detector and controller is proposed. Eventually, the effectiveness of the proposed event-triggered SFDC method for USV systems is demonstrated by a simulation case.