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A discussion on sensor recovery techniques for fault tolerant multisensor schemes |
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| Authors: | Florin Stoican Sorin Olaru José A De Doná María M Seron |
| Affiliation: | 1. Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway;2. Automatic Control Department, SUPELEC Systems Sciences (E3S), Gif sur Yvette, France;3. Centre for Complex Dynamic Systems and Control, School of Electrical Engineering and Computer Science, The University of Newcastle, New South Wales, Australia |
| Abstract: | The present paper deals with the interplay between healthy and faulty sensor functioning in a multisensor scheme based on a switching control strategy. Fault tolerance guarantees have been recently obtained in this framework based upon the characterisation of invariant sets for state estimations in healthy and faulty functioning. A source of conservativeness of this approach is related to the issue of sensor recovery. A common working hypothesis has been to assume that once a sensor switches to faulty functioning it can no longer be used by the control mechanism even if at an ulterior moment it switches back to healthy functioning. In the current paper, we present necessary and sufficient conditions for the acknowledgement of sensor recovery and we propose and compare different techniques for the reintegration of sensors in the closed-loop decision-making mechanism. |
| Keywords: | fault tolerant scheme invariant sets set membership testing |