Fault-Tolerant Multi-Robot Target Pursuit with Fault Detection and Isolation Based on Mobile Adaptive Networks

2021 ◽  
Author(s):  
Jia You ◽  
Zhenhui Li ◽  
Jianhua Yang
Keyword(s):  
Fault Detection ◽  
Fault Tolerant ◽  
Fault Detection And Isolation ◽  
Adaptive Networks ◽  
Target Pursuit ◽  
Multi Robot

A PCA Based Fault Detection and Isolation Method for Train Locating System

2010 ◽  
Vol 20-23 ◽  
pp. 688-693
Author(s):  
Jiang Liu ◽  
Bai Gen Cai ◽  
Tao Tang ◽  
Jian Wang
Keyword(s):  
Fault Detection ◽  
Fault Tolerant ◽  
Fault Detection And Isolation ◽  
Practical Application ◽  
Isolation Method ◽  
Efficiency Factors ◽  
Simulation Results ◽  
And Performance ◽  
Locating System ◽  
Fault Detectors

Fault tolerance is crucial to the operating safety and performance of train locating system. Based on the requirements of reliability and safety for train locating, the fault characteristics of location measuring sensors are analyzed. Based on the structure of the train locating system, the fault-tolerant design of the system is given with the location filtering module for case, in which six fault detectors are employed to determine the configuration of the module. Then a PCA based fault detection and isolation method is proposed with Hawkins T2 statistics and the corresponding control limit. By dynamically adjusting the efficiency factors, fault could be detected and isolated as prior defined isolating strategies, and then the fault tolerant performance will be guaranteed. Simulation results demonstrate the high fault tolerant ability of the proposed approach and certain practical application value.

scholarly journals Active versus passive fault-tolerant control of a redundant multirotor UAV

2019 ◽  
Vol 124 (1273) ◽  
pp. 385-408
Author(s):  
M. Saied ◽  
B. Lussier ◽  
I. Fantoni ◽  
H. Shraim ◽  
C. Francis
Keyword(s):  
Fault Tolerance ◽  
Fault Detection ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Fault Detection And Isolation ◽  
Detection Scheme ◽  
Redundancy Management ◽  
Model Free

ABSTRACTThis paper considers actuator redundancy management for a redundant multirotor Unmanned Aerial Vehicle (UAV) under actuators failures. Different approaches are proposed: using robust control (passive fault tolerance), and reconfigurable control (active fault tolerance). The robust controller is designed using high-order super-twisting sliding mode techniques, and handles the failures without requiring information from a Fault Detection scheme. The Active Fault-Tolerant Control (AFTC) is achieved through redistributing the control signals among the healthy actuators using reconfigurable multiplexing and pseudo-inverse control allocation. The Fault Detection and Isolation problem is also considered by proposing model-based and model-free modules. The proposed techniques are all implemented on a coaxial octorotor UAV. Different experiments with different scenarios were conducted for the validation of the proposed strategies. Finally, advantages, disadvantages, application considerations and limitations of each method are examined through quantitative and qualitative studies.

scholarly journals Supervisory fault tolerant control with integrated fault detection and isolation: A switched system approach

2012 ◽  
Vol 22 (1) ◽  
pp. 87-97 ◽  
Author(s):  
Hao Yang ◽  
Bin Jiang ◽  
Vincent Cocquempot ◽  
Lingli Lu
Keyword(s):  
Fault Detection ◽  
System Approach ◽  
Fault Tolerant ◽  
Control Design ◽  
Fault Tolerant Control ◽  
Switched System ◽  
Fault Detection And Isolation ◽  
Finite Cover ◽  
Switching Law

Supervisory fault tolerant control with integrated fault detection and isolation: A switched system approachThis paper focuses on supervisory fault tolerant control design for a class of systems with faults ranging over a finite cover. The proposed framework is based on a switched system approach, and relies on a supervisory switching within a family of pre-computed candidate controllers without individual fault detection and isolation schemes. Each fault set can be accommodated either by one candidate controller or by a set of controllers under an appropriate switching law. Two aircraft examples are included to illustrate the efficiency of the proposed method.

Implementation of Improved Sliding Mode Observer and Fault Tolerant Control for a PMSM Drive

2016 ◽  
Vol 26 (02) ◽  
pp. 1750032 ◽  
Author(s):  
Hechmi Ben Azza ◽  
Mongi Moujahed ◽  
Mohamed Jemli ◽  
Mohamed Boussak
Keyword(s):  
Fault Detection ◽  
Permanent Magnet ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Fault Tolerant Control ◽  
Sliding Mode Observer ◽  
Experimental Results ◽  
Fault Detection And Isolation ◽  
Stator Resistance

This paper presents the development and experimentation of Fault-Tolerant Control (FTC) for sensorless Permanent Magnet Synchronous Motor (PMSM) drive with stator resistance tuning. In the fault-tolerant inverter, a redundant leg is added to replace the faulted leg. Consequently, the proposed inverter is a modified topology inverter with fault-tolerant capability, which can be configured as 3-phase 8-switch inverter. The detection of the faulty leg is based only on the output inverter currents measurement. To make toggle to a redundant leg in case of fault occurrence, a Fault Detection and Isolation (FDI) algorithm is proposed in this paper. Experimental results are presented using a 1.4[Formula: see text]kW, three poles three-phases PMSM. These results show that the proposed FDI algorithm is able to detect and to isolate the open-phase fault in PMSM drive.

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