Pipelines are a nonlinear and complex component to transfer fluid or gas from one place to another. From economic and environmental points of view, the safety of transmission lines is incredibly important. Furthermore, condition monitoring and effective data analysis are important to leak detection and localization in pipelines. Thus, an effective technique for leak detection and localization is presented in this study. The proposed scheme has four main steps. First, the learning autoregressive technique is selected to approximate the flow signal under normal conditions and extract the mathematical state-space formulation with uncertainty estimations using a combination of robust autoregressive and support vector regression techniques. In the next step, the intelligence-based learning observer is designed using a combination of the robust learning backstepping method and a fuzzy-based technique. The learning backstepping algorithm is the main part of the algorithm that determines the leak estimation. After estimating the signals, in the third step, their classification is performed by the support vector machine algorithm. Finally, to find the size and position of the leak, the multivariable backstepping algorithm is recommended. The effectiveness of the proposed learning control algorithm is analyzed using both experimental and simulation setups.
CONCURRENT MAP BUILDING AND LOCALIZATION ON INDOOR DYNAMIC ENVIRONMENTS
