Actuator Fault Tolerant Control: A Receding Horizon Set-Theoretic Approach

Franzè, Giuseppe; Tedesco, Francesco; Famularo, Domenico

doi:10.1109/tac.2014.2375731

Cited by 16 publications

(16 citation statements)

References 17 publications

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“…Proof. The proof exploits the Pontryagin-Minkowski set difference, the additional stuck effect F ic i, F does not cause methodological hitches and the same ingredients used in the work of Franzè et al 25 can be mutatis mutandis applied, ie,…”

Section: A Stuck Sensor Ftc Schemementioning

confidence: 98%

A reconfiguration control framework for constrained systems with sensor stuck faults

Famularo

Franzè

Lúcia

et al. 2018

Intl J Robust & Nonlinear

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In this paper, a sensor stuck fault-tolerant control framework for linear time-invariant plant models subject to input/state constraints and bounded disturbances is presented. A receding horizon control reconfigurable scheme is proposed to contrast undesired effects due to sensors malfunctioning. The main merit of this strategy relies on its intrinsic capability to quickly identify fault occurrences and to take a decision on the adequate control action. This is formally obtained by jointly exploiting set-theoretic polyhedral ideas and the certainty equivalence concept. A numerical example is provided and the control performance contrasted with a well-reputed competitor fault-tolerant control scheme. KEYWORDSconstrained systems, fault-tolerant control, piecewise affine models, set invariance, stuck sensors INTRODUCTIONFault-tolerant control (FTC) is an idea well known in the research literature, 1,2 which allows to hold plant performance close to a desirable state and to preserve stability conditions in the presence of component and/or instrument malfunctions. Accommodation capability is based on several aspects like fault severity, plant robustness, and mechanisms inducing redundancy in sensors and/or actuators. As a consequence, FTC techniques are an appealing methodology due to continuously growing demand of safety and reliability in several technical applications. 3 The literature considers two main groups of FTC approaches, ie, passive and active schemes (see the work of Patton 4 for a review). Passive FTC consists of control laws considering fault occurrence as a system perturbation. As a consequence and within certain margins, the control law, kept fixed, has inherent fault-tolerant capabilities, allowing the system to cope with the fault presence. On the other hand, active FTC techniques consist in adapting the control law using the information given by a model-based fault detection and isolation (FDI) software module. 5 By means of this information, self-tuning in the regulation loop are accomplished after fault appearance trying to satisfy the control objectives with minimum performance degradation.Here, an active reconfiguration control strategy for plants described via discrete-time piecewise affine systems is presented. In particular, we focus our attention on sensor devices, necessary to acquire real-time system operating information. Sensors are thought to break down as frequently as actuators, and sensor failures often bring serious and even disastrous situations. Faulty sensors may in fact produce performance degradation, process shutdown, or a fatal accident. When process operation elements, controllers, and actuators are functional, the undesirable consequences of a faulty sensor can be prevented by using appropriate FDI methodologies. In particular, an FDI sensor-based technique allows to detect faulty sensors and the identification of the fault type (bias, drift, noise, or complete failure). This FDI category is a special case in the general FDI field that recently has received extensive atten...

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Section: A Stuck Sensor Ftc Schemementioning

confidence: 98%

A reconfiguration control framework for constrained systems with sensor stuck faults

Famularo

Franzè

Lúcia

et al. 2018

Intl J Robust & Nonlinear

Self Cite

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“…This is probably due to the fact that simple linear models and simulations can be produced to verify the control strategies. Franzè et al [9] and Munz [10] et al apply their fault tolerance and sensor placement algorithms, respectively, to linear discrete-time systems. Lee [11] defines degrees of freedom of control in linear systems.…”

Section: State Spacementioning

confidence: 99%

“…A learning-based algorithm is proposed to resynthesize appropriate local supervisors when sensor failure occurs, and target for the necessary and sufficient conditions under which the global specifications are maintained under actuator failures. G Franzè et al [9] proposed a novel actuator fault tolerant control strategy for constrained discrete time linear systems subject to bounded disturbances. The fault tolerance scheme consisted of three modules.…”

Section: Fault Tolerancementioning

confidence: 99%

Review of Selection Criteria for Sensor and Actuator Configurations Suitable for Internal Combustion Engines

Comissiong¹,

Steffen²

2018

SAE Technical Paper Series

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This literature review considers the problem of finding a suitable configuration of sensors and actuators for the control of an internal combustion engine. It takes a look at the methods, algorithms, processes, metrics, applications, research groups and patents relevant for this topic. Several formal metric have been proposed, but practical use remains limited. Maximal information criteria are theoretically optimal for selecting sensors, but hard to apply to a system as complex and nonlinear as an engine. Thus, we reviewed methods applied to neighboring fields including nonlinear systems and nonminimal phase systems. Furthermore, the closed loop nature of control means that information is not the only consideration, and speed, stability and robustness have to be considered. The optimal use of sensor information also requires the use of models, observers, state estimators or virtual sensors, and practical acceptance of these remains limited. Simple control metrics such as conditioning number are popular, mostly because they need fewer assumptions than closed-loop metrics, which require a full plant, disturbance and goal model. Overall, no clear consensus can be found on the choice of metrics to define optimal control configurations, with physical measures, linear algebra metrics and modern control metrics all being used. Genetic algorithms and multi-criterial optimisation were identified as the most widely used methods for optimal sensor selection, although addressing the dimensionality and complexity of formulating the problem remains a challenge. This review does present a number of different successful approaches for specific applications domains, some of which may be applicable to diesel engines and other automotive applications. For a thorough treatment, non-linear dynamics and uncertainties need to be considered together, which requires sophisticated (non-Gaussian) stochastic models to establish the value of a control architecture.

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“…To handle these faults and make the failed robot Efimov et al, 2013;Patton et al, 2012;Yu and Jiang, 2015;Franzè et al, 2015;Hamayun et al, 2015;Yang and Maciejowski, 2015;Rotondo et al, 2015;Bilski and Wojciechowski, 2016;Hassanabadi et al, 2016). As for the application to wheeled mobile robots, some fault diagnosis methods are developed (e.g., Fourlas et al, 2015;Goel et al, 2000;Skoundrianos and Tzafestas, 2004), a sensor fault accommodation scheme is presented by Ji and Sarkar (2007), some fault-tolerant control systems are designed by Koh et al (2012), Zhang and Cocquempot (2014), Rotondo et al (2014), Kim et al (2015), and Aref et al (2015) for four-wheel drive robots, and a hybrid fault adaptive control scheme is designed by Ji et al (2003) to accommodate partial faults and degradation for two-wheel drive (2WD) mobile robots.…”

Section: Introductionmentioning

confidence: 99%

Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control

Cocquempot

Najjar

et al. 2017

International Journal of Applied Mathematics and Computer Science

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This paper develops a new actuator failure compensation scheme for two linked two-wheel drive (2WD) mobile robots based on multiple-model control. First, a configuration of two linked 2WD robots is described, and their kinematics and dynamics are modeled. Then, a multiple-model based failure compensation scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which ensures system stability and asymptotic tracking properties. Finally, simulation results verify the effectiveness of the proposed failure compensation control system.

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Actuator Fault Tolerant Control: A Receding Horizon Set-Theoretic Approach

Cited by 16 publications

References 17 publications

A reconfiguration control framework for constrained systems with sensor stuck faults

A reconfiguration control framework for constrained systems with sensor stuck faults

Review of Selection Criteria for Sensor and Actuator Configurations Suitable for Internal Combustion Engines

Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control

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