scholarly journals Sensor Faults Isolation in Networked Control Systems: Application to Mobile Robot Platoons

Sensors ◽  
2021 ◽  
Vol 21 (20) ◽  
pp. 6702
Author(s):  
Wijaya Kurniawan ◽  
Lorinc Marton
Keyword(s):  
Control Systems ◽  
Networked Control Systems ◽  
Networked Control ◽  
Major Influence ◽  
Sensor Faults ◽  
Fault Propagation ◽  
Unknown Input Observers ◽  
Simulation Results ◽  
Entire Network

In networked control systems, sensor faults in a subsystem have a major influence on the entire network as the fault effect reaches the other subsystems through the network interconnections. In this paper, a fault diagnosis-oriented model is proposed for linear networked control systems that can be applied to the robotics platoon. In addition, this model can also be used to design distributed Unknown Input Observers (UIO) in each subsystem to accomplish weak sensor faults isolation by treating the network disturbances and fault propagation through the network as unknown inputs. A case study was developed in which the subsystems were represented by robots that are connected in a wireless communication-based leader-follower scheme. The simulation results show that the model successfully reproduces the expected behaviour of the robotics platoon in the presence of sensor faults. Furthermore, weak sensor faults isolation is also achieved by observing the residual signals produced by the UIOs in each of the subsystems.

scholarly journals Active-Varying Sampling-Based Fault Detection Filter Design for Networked Control Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Yu-Long Wang ◽  
Tian-Bao Wang ◽  
Wei-Wei Che
Keyword(s):  
Fault Detection ◽  
Control Systems ◽  
Networked Control Systems ◽  
Filter Design ◽  
Sampling Period ◽  
Networked Control ◽  
Packet Dropouts ◽  
Fault Detection Filter ◽  
Simulation Results ◽  
Detection Filter

This paper is concerned with fault detection filter design for continuous-time networked control systems considering packet dropouts and network-induced delays. The active-varying sampling period method is introduced to establish a new discretized model for the considered networked control systems. The mutually exclusive distribution characteristic of packet dropouts and network-induced delays is made full use of to derive less conservative fault detection filter design criteria. Compared with the fault detection filter design adopting a constant sampling period, the proposed active-varying sampling-based fault detection filter design can improve the sensitivity of the residual signal to faults and shorten the needed time for fault detection. The simulation results illustrate the merits and effectiveness of the proposed fault detection filter design.

Event-triggered L1 filtering for uncertain networked control systems with multiple sensor fault modes

2020 ◽  
pp. 014233122097447
Author(s):  
Ji Qi ◽  
Yanhui Li
Keyword(s):  
Control Systems ◽  
Networked Control Systems ◽  
Discrete Event ◽  
Lyapunov Theory ◽  
Networked Control ◽  
Sensor Faults ◽  
Sensor Fault ◽  
Multiple Sensor ◽  
Error System ◽  
Event Triggered

Considering the influence of sensor fault modes on the system performance in communication network, under the discrete event-triggered communication scheme (DETCS), the problems of the robust [Formula: see text] filtering for a class of uncertain networked control systems (NCSs) with multiple sensor fault modes and persistent and amplitude-bounded disturbance constraints are investigated. A set of stochastic variables are adopted to describe the sensor faults, the filtering error system is established, which characterizes the effects of sensor faults and DETCS. By constructing an appropriate delay-dependent Lyapunov-Krasovskii functional, new results on stability and robust [Formula: see text] performance are proposed for the filtering error system according to Lyapunov theory and the integral inequality method, and the co-design method for gaining the desired [Formula: see text] filter parameters and event-triggering parameters is given in terms of linear matrix inequalities (LMIs). We notice that with the structrue of Lyapunov-Krasovskii functional which considers the piecewise-linear sawtooth structure characteristic of transmission delay, a less conservative result is obtained. Finally, three examples are provided to illustrate the feasibility of the proposed method.

scholarly journals Guaranteed Cost Fault-Tolerant Control for Networked Control Systems with Sensor Faults

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Qixin Zhu ◽  
Kaihong Lu ◽  
Guangming Xie ◽  
Yonghong Zhu
Keyword(s):  
Control Systems ◽  
Large Scale ◽  
Networked Control Systems ◽  
Fault Tolerant ◽  
Networked Control ◽  
Linear Matrix ◽  
Time Varying ◽  
Sensor Faults ◽  
Discrete Time System ◽  
Guaranteed Cost

For the large scale and complicated structure of networked control systems, time-varying sensor faults could inevitably occur when the system works in a poor environment. Guaranteed cost fault-tolerant controller for the new networked control systems with time-varying sensor faults is designed in this paper. Based on time delay of the network transmission environment, the networked control systems with sensor faults are modeled as a discrete-time system with uncertain parameters. And the model of networked control systems is related to the boundary values of the sensor faults. Moreover, using Lyapunov stability theory and linear matrix inequalities (LMI) approach, the guaranteed cost fault-tolerant controller is verified to render such networked control systems asymptotically stable. Finally, simulations are included to demonstrate the theoretical results.

scholarly journals Self-triggered networked control systems: An experimental case study

2010 ◽  
Author(s):  
Antonio Camacho ◽  
Pau Marti ◽  
Manel Velasco ◽  
Camilo Lozoya ◽  
Ricard Villa ◽  
...  
Keyword(s):  
Control Systems ◽  
Networked Control Systems ◽  
Networked Control
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