2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)最新文献

{"title":"Robust adaptive simultaneous state and fault estimation for nonlinear systems: Application to an aerodynamical system","authors":"Mariusz Buciakowski, M. Witczak, V. Puig, D. Rotondo, F. Nejjari","doi":"10.1109/SYSTOL.2016.7739852","DOIUrl":"https://doi.org/10.1109/SYSTOL.2016.7739852","url":null,"abstract":"The paper is concerned with the task of robust adaptive fault estimation and an unknown input decoupling for nonlinear systems using a quadratic boundedness approach. In particular, the fault estimation strategy and decoupling of the unknown input is based on an unknown input observer. The above methods are used to describe a robust fault and state observer problem by a set of linear matrix inequalities, which are efficiently handled by freely available solvers. The proposed approach allows obtaining a feasible set of joint state and fault estimation errors. Based on this knowledge, the confidence intervals of the system state and actuator fault, which supports diagnostic decisions, are proposed. The final part of the paper presents an illustrative example concerning an aerodynamical twin-rotor system, which exhibits the performance of the proposed approach.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"525 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120860906","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Modelling and control of a coaxial helicopter UAV in an indoor laboratory","authors":"Bartomeu Rubí, Ramon Pérez, B. Morcego","doi":"10.1109/SYSTOL.2016.7739738","DOIUrl":"https://doi.org/10.1109/SYSTOL.2016.7739738","url":null,"abstract":"This paper describes the modelling, the control algorithm and the flight experiments performed with an Unmanned Aerial Vehicle (UAV). The vehicle is a coaxial toy helicopter and the control platform is an indoor platform with a computer vision sensor. The dynamic model of the vehicle as well as the identification process of its parameters are described. The controller consists on a cascade control structure formed by trajectory, velocity and attitude control loops implemented with PID-based controllers. The experimental results show a maximum position error of 5cm on hovering experiments and exhibit a great precision in the trajectory tracking experiments.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126186723","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"On-the-fly diagnosability analysis of LPN using verifier nets","authors":"Ben Li, M. Khlif-Bouassida, Armand Toguyoni","doi":"10.1109/SYSTOL.2016.7739768","DOIUrl":"https://doi.org/10.1109/SYSTOL.2016.7739768","url":null,"abstract":"In this paper, the on-the-fly diagnosability analysis using Verifier Nets (VN) is developed. The objective is to improve the VN approach by using on-the-fly diagnosability analysis technique. The diagnosability is analyzed in the framework of bounded and unbounded labeled Petri nets (LPN) with no deadlock after firing any fault transition. The VN and its reachability graph (for bounded LPN)/ coverability graph (for unbounded LPN) are built on-the-fly and in parallel for diagnosability analysis. Stop conditions are proposed to stop the construction as soon as a diagnosability decision is established. This approach achieves a compromise between computation efficiency and combinatorial explosion limitation.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129387745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Kalman filtering and zonotopic state bounding for robust fault detection","authors":"C. Combastel","doi":"10.1109/SYSTOL.2016.7739735","DOIUrl":"https://doi.org/10.1109/SYSTOL.2016.7739735","url":null,"abstract":"Two usually distinct paradigms exist to model uncertainties. The stochastic one deals with random uncertainties. Strong assumptions about their probability distributions are often made, especially when online computation is required. For instance, assuming independent Gaussian distributions is common practice when using standard versions of the famous Kalman Filter. Though efficient to deal with measurement noises, the assumption of known probability distributions finds its limits to characterize epistemic uncertainties. Indeed, the lack of a precise knowledge about disturbances such as the load torque of a motor may be better characterized by interval bounds with no assumption about the values distribution. This is the usual motivation for using the set-membership paradigm to model uncertainties. Though explicitly computed sets can achieve a so-called guaranteed robustness to the worse cases resulting from the specified uncertainty bounds, the bounded-error paradigm however usually suffers from a poor management of random measurement noises. In this semi-plenary talk, a joint Zonotopic and Gaussian Kalman Filter (ZGKF) will be presented. It will be shown to provide a solution for the robust fault detection of uncertain discrete-time systems simultaneously subject to bounded disturbances and Gaussian noises. The covariation of a zonotope will be introduced as a set-membership analog to covariance, making it possible to compute a time-varying optimal observer gain jointly minimizing both kinds of uncertainties: bounded/zonotopic and Gaussian. Then, given a maximal probability of false alarms, an innovation-based detection test will be shown to merge the usually mutually exclusive benefits granted by set-membership techniques (robustness to the worse cases within specified bounds, domain computations) and stochastic approaches (taking noise distribution into account, probabilistic evaluation of tests). Numerical simulations will illustrate the significantly improved tradeoff between the sensitivity to faults and the robustness to disturbances/noises, while the computations (prediction/update, optimal gain, confidence domains, adaptive thresholds, detection test) remain explicit and can be efficiently implemented. Then, the new notion of Set-membership and Probabilistic Merger (SPM) will be introduced and particularized to Zono-topic and Gaussian Mergers (ZGM). The EZGKF algorithm, an extended version of ZGKF to non-linear filtering, will be also presented and discussed as an outline to future works.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125662842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Velocity tracking controller for planar motion of underwater vehicles","authors":"P. Herman, W. Kowalczyk","doi":"10.1109/SYSTOL.2016.7739741","DOIUrl":"https://doi.org/10.1109/SYSTOL.2016.7739741","url":null,"abstract":"A control algorithm for velocity tracking of autonomous underwater vehicles (AUV) is presented in this work. The controller is realized using the transformed equations of motion obtained from the inertia matrix decomposition. The control gains contain dynamics of the vehicle, which cause that the motion strictly depend on the system parameters. The stability of the system together with the controller is done based on the Lyapunov method. The proposed strategy is suitable for fully actuated vehicles moving in the planar space. However, it is shown (taking into account preliminary results) that also if the system is underactuated it is possible to use similar approach. An explanation of this idea is given for a 3 DOF planar AUV model. The performance of the proposed controller is validated via simulation on a 3 DOF AUV.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"154 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132401483","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Experimental evaluation of an active fault-tolerant control scheme for multirotor UAVs","authors":"Daniel Vey, J. Lunze","doi":"10.1109/SYSTOL.2016.7739739","DOIUrl":"https://doi.org/10.1109/SYSTOL.2016.7739739","url":null,"abstract":"This paper presents experimental results that have been obtained by applying an active fault-tolerant control (FTC) framework to multirotor UAVs subject to actuator failures. The proposed fault-tolerant control scheme combines a bank of observers for diagnosis with the concept of the virtual actuator for control reconfiguration. Therefore, an evaluation method for fault detection and isolation is presented, which guarantees that the diagnosis result is always adequate for control reconfiguration. The experiments with a hovering multirotor UAV subject to a rotor failure validate the applicability of the proposed FTC scheme under real-time constraints and in the presence of natural uncertainties, measurement noise and process disturbances.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122309192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Set-membership functional diagnosability: Definitions and analysis","authors":"Carine Jauberthie, N. Verdière, L. Travé-Massuyès","doi":"10.1109/SYSTOL.2016.7739794","DOIUrl":"https://doi.org/10.1109/SYSTOL.2016.7739794","url":null,"abstract":"This paper introduces the concept of functional diagnosability for nonlinear dynamical uncertain models. Set-membership functional diagnosability is based on the notion of functional signature introduced in [11] extended to the set-membership framework. The link between functional diagnosability and set-membership functional diagnosability is established. Contrary to classical definitions, the study of functional diagnosability highlights some of the residual properties related to the fault acting on the system in time. Set-membership functional diagnosability extends this concept to bounded faults, i.e. faults whose magnitude is unknown but belongs to a bounded set. Numerical simulations for a system based on water tanks illustrate the potential of set-membership functional diagnosability.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"283 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120895946","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Modeling approach and fault index analysis of a voltage-source brushless DC motor","authors":"K. Alameh, R. Ginzarly, G. Hoblos, G. Barakat","doi":"10.1109/SYSTOL.2016.7739807","DOIUrl":"https://doi.org/10.1109/SYSTOL.2016.7739807","url":null,"abstract":"This paper presents a modeling approach and a fault index analysis of a voltage-source brushless DC motor. First, an analytical multi-physical model of the inverter-fed Permanent Magnet DC motor is developed and simulated using Matlab/Simulink. This model enables the generation of electrical, magnetic and vibration signals under healthy and faulty motor behaviors, with several fault categories and severities. Before simulating faulty conditions in the different parts of the analytical model, they are compared to Finite Element models, developed using Matlab for air-gap flux density and ANSYS software for stator natural frequency calculations. Simulation results of the motor during normal functioning and under faulty conditions are presented. In particular, rotor eccentricity and single pole demagnetization faults are studied in this paper. Then, different features, including time-, space-, frequency- and harmonic-domain characteristics, are extracted from vibration signals for different cases. Finally, these indicators are analyzed with respect to the fault severity to select the most discriminative one(s) allowing an efficient fault detection and isolation.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122743708","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robust diagnosis based on BG modelling online implementation in the rear suspension motorcycle","authors":"N. Zanzouri, Khawla Mabrouki","doi":"10.1109/SYSTOL.2016.7739757","DOIUrl":"https://doi.org/10.1109/SYSTOL.2016.7739757","url":null,"abstract":"In this paper, a Bond Graph of the rear suspension motorcycle is proposed. The model is used to study the robust diagnosis of the considered process. The Analytical Redundancy Relations (ARRs) are generated for monitoring system. The bond graph and LFT form (linear fractional transformation) were exploited to the graphical representation of parametric uncertainties. The simulation and experimental results on rear suspension of BMW R1200GS motorcycle validate the studied approach.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131137187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Maturation and in-flight testing of H fault detection and accommodation for a model-scale autonomous aircraft","authors":"J. Vasconcelos, P. Rosa, M. Kerr, A. Latorre, C. Recupero, L. Hernandez","doi":"10.1109/SYSTOL.2016.7739776","DOIUrl":"https://doi.org/10.1109/SYSTOL.2016.7739776","url":null,"abstract":"This paper describes the maturation and in-flight testing of a recently developed fault detection (FD) system for a model scale unmanned aerial vehicle (UAV). The FD system design methodology is based on H techniques and exploits an LFT description of the aircraft (A/C) longitudinal dynamics. The maturation of the FD system, presented in the paper, introduces a fault isolation logic to distinguish between bias and stuck-in-place faults in the elevator, and a fault accommodation strategy to recover the nominal operation of the controller, thus attaining fault detection and isolation (FDI) and fault tolerant control (FTC). An overview of the experimental setup of the FDI/FTC system is described, presenting the high-fidelity Functional Engineering Simulator (FES) development environment, the UAV platform, and the flight test plan definition. Results are presented for the FDI/FTC system tested in real-time and onboard the UAV, for typical maneuvers of climbing/descent, turning, cruising and waypoint following, covering the expected flight envelope. Extension of the system for a planetary exploration glider is also briefly discussed.","PeriodicalId":223249,"journal":{"name":"2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134073201","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}