Supervisory fault‐tolerant control with mutual performance optimization

Efimov, Denis; Cieslak, Jérôme; Henry, David

doi:10.1002/acs.2296

Cited by 41 publications

(46 citation statements)

References 53 publications

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“…Passive FTC relies on robust control concepts, whereas active FTC methods act on the system component failures actively by redesigning the controller so that the stability and acceptable performance of the entire system is maintained. The most famous active FTC strategies are the pseudoinverse methods (Bajpai, Chang, & Lau, 2001;Caglayan, Allen, & Wehmuller, 1988;Gao & Antsaklis, 1991;Ostroff, 1985), recently revisited by Staroswiecki (2005), the Linear Quadratic (LQ) approach (Josh, 1987;Looze, Weiss, Eterno, & Barett, 1985;Staroswiecki, Yang, & Jiang, 2007;Veillette, 1995), the EA technique (Jiang, 1994;Zhang & Jiang, 2001;Zhao & Jiang, 1998), the adaptive control approach (Bodson & Groszkiewicz, 1997;Tao, Chen, & Joshi, 2002;Zhang, Parisini, & Polycarpou, 2004), the Model Predictive Control (MPC) approach (Camacho & Bordons, 1999;Hartley, Trodden, Richards, & Maciejowski, 2012;Maciejowski, 2002), and most recently the supervisory approach (Efimov, Cieslak, & Henry, 2013;Yang, Jiang, & Cocquempot, 2012).…”

Section: Related Work and Limitationsmentioning

confidence: 99%

Robust FDI for fault-tolerant thrust allocation with application to spacecraft rendezvous

Fonod

Henry

Charbonnel

et al. 2015

Control Engineering Practice

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a b s t r a c tThis paper deals with the design and validation of an active fault-tolerant control system to detect, isolate and accommodate a single thruster fault affecting the thruster-based propulsion system of an autonomous spacecraft. The proposed method consists of a fault detector for robust and quick fault detection, a two-stage hierarchical isolation strategy for fault isolation, and an online control allocation unit scheduled by the isolation scheme for fault tolerance. A new factorization approach for the uncertain inertia matrix inverse is proposed. Thanks to this factorization, a novel robust Nonlinear Unknown Input Observers (NUIO) approach is proposed based on LMIs which ensure maximization of the admissible Lipschitz constant while at the same time satisfying an L 2 gain bound and some constraints on the observer dynamics. At the first stage of the isolation scheme, a bank of NUIOs is used to identify a subset of possible faulty thrusters. Then, at the second stage, an EKF is introduced to estimate the torque bias directions. Using these directions, jointly with the detector's residual and the information obtained from the first stage, a set of explicit rules is derived to unambiguously isolate the faulty thruster. A Monte Carlo campaign, based on a simulator developed by Thales Alenia Space industries, is conducted in the context of a terminal rendezvous phase of the Mars Sample Return mission. Mission oriented criteria demonstrate that the proposed strategy is able to cope with a large class of realistic thruster faults and to achieve mission success.

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Section: Related Work and Limitationsmentioning

confidence: 99%

Robust FDI for fault-tolerant thrust allocation with application to spacecraft rendezvous

Fonod

Henry

Charbonnel

et al. 2015

Control Engineering Practice

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“…FTC is currently an important research area as testified by several recent papers, see e.g. [5] and references therein.…”

Section: Introductionmentioning

confidence: 99%

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

Franzè

Tedesco

Famularo

2015

IEEE Trans. Automat. Contr.

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In this note a novel actuator Fault Tolerant Control strategy for constrained discrete time linear systems subject to bounded disturbances is proposed. The scheme consists of three modules: a bank of estimators, each one associated with healthy and faulty model configurations, a logic mechanism for identifying healthy-to-faulty and faulty-to-healthy transitions and an estimate based control reconfiguration unit. The idea is to abstractly describe healthy and faulty plant configurations by means of a switching paradigm and sequences of pre-computed inner approximations of one-step controllable sets. Such regions are then on-line exploited together with a switching logic to determine the current plant configuration on the basis of the state estimate provided by the observers.0018-9286 (c)

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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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Supervisory fault‐tolerant control with mutual performance optimization

Cited by 41 publications

References 53 publications

Robust FDI for fault-tolerant thrust allocation with application to spacecraft rendezvous

Robust FDI for fault-tolerant thrust allocation with application to spacecraft rendezvous

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

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

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