Fault detection and faulttolerant control using sliding. Then the model is adapted to the faulty situation and the controller is redesigned so that the closedloop system including the faulty plant satisfies the given specifications. Note that the traditional nonmodelbased fd methods can only cope with the fd problem in. What makes this technology challenging is the increasing mission duration and unknown environment. In the area of faulttolerant control, a fault is regarded as any kind of malfunction in a system, and which may lead.
Fault diagnosis, faulttolerant control, and cooperative. Robust and faulttolerant control neuralnetworkbased. Datadriven design of fault diagnosis and faulttolerant. Fault tolerance is the property that enables a system to continue operating properly in the event of the failure of or one or more faults within some of its components. Zhang aue7 faults and faults classification faults and faults classification definition and classification what is a fault. Fault tolerant control an overview sciencedirect topics. Control solutions that are able to cope with possible malfunctions and fault situations are usually referred to as fault tolerant control system ftc, as they possess the capability to automatically manage the faults affecting the components. Download diagnosis and faulttolerant control pdf ebook. Firstly, a novel faulttolerant control method for systems with multi actuator and parameter faults is proposed. Fault tolerance is a required design specification for computer equipment used in online transaction processing systems, such as airline flight control and reservations systems. Faulttolerant control of unmanned underwater vehicles lingli ni abstract unmanned underwater vehicles uuvs are widely used in commercial, scienti c, and military missions for various purposes. Faulttolerant control merges several disciplines to achieve this goal, including online fault. Sensor fault diagnosis and faulttolerant control for non. This book presents modelbased analysis and design methods for fault evaluation and faulttolerant control.
Datadriven design of fault diagnosis and faulttolerant control systems will be of interest to process and control engineers, engineering students and. Tolerant control description the 5009ft is a standardofftheshelf steam turbine control for use on industrial steam turbines used in critical compressor or generator drive applications. A well thought control system design is to make some suitable tradeoffs between these two specifications. Faulttolerant systems are also widely used in sectors such as distribution and logistics, electric power plants, heavy manufacturing, industrial control systems and. Active fault tolerant flight control system design a uav. In the fault tolerant control system design, the designed controller will guarantee the stability of the resulting closed loop system under faults at a cost of degrading the performance when there is no fault in the system. Architectural and structural fashions are used to analyse the propagation of the fault by way of the tactic, verify fault detectability and reveal redundancies that may be utilized to ensure fault tolerance. Fault tolerance in control systems purdue university. Architectural and structural models are used to analyse the propagation of the fault through the process, to test the fault detectability and to find the redundancies in the process that can be used to ensure fault tolerance.
Measurement and control robust active faulttolerant. Faulttolerant control systems ftcs are classified into two major types based on differences in architecture and features. Faulttolerant control aims at a graceful degradation of the behaviour of automated. Faulttolerant control allocation fault detection stabilization control system multirotor system 4 68 fig. Pdf fault tolerant control offers enhanced availability and reduced risk of safety hazards when component failure and other unexpected. Giribet and others published fault tolerant control of an hexacopter with a tiltedrotor configuration find, read and cite all the research you need on researchgate. The faulttolerant avionics system ensures integrity ellis f. Concepts and methods in faulttolerant control tutorial at american control conference, june 2001 mogens blanke1, marcel staroswiecki2 and n.
Pdf faulttolerant control of continuousvariable systems. Sliding mode control is used to make the pdf of the system output to track the desired distribution. The activities of the working group were structured during the twoday. Fault detection and faulttolerant control using sliding modes is the first text dedicated to showing the latest developments in the use of sliding mode concepts for fault detection and isolation fdi and faulttolerant control in dynamical engineering systems. It satisfies the industrial demand for enhanced availability and safety, in contrast to traditional reactions to faults, which bring about sudden shutdowns and loss of availability. Silvio simani, saverio farsoni, in fault diagnosis and sustainable control of wind turbines, 2018. A faulttolerant system may be able to tolerate one or more faulttypes including i transient, intermittent or permanent. Matlab is used to verify the fault diagnosis and faulttolerant control results. Abstract this paper, addresses fault tolerant control ftc of large power systems lps subject to sensor failure. Control system using faulttolerant control allocation in order to address actuator failures, a faulttolerant control allocator is developed, which minimizes the. Whereas previous algorithms assumed a synchronous system or were too slow to be used in practice.
Faulttolerant control is used in systems that need to be able to detect faults and prevent simple faults related to control loops from developing into. Linear and nonlinear techniques for modeling, fault diagnosis, faulttolerant control, path and trajectory planningre. Ho boeing commercial airplane company prepared for nasa langley research center under contract nas117635 task no. The fault influence can be compensated by the fault estimation information to achieve faulttolerant control. Active fault tolerant control of nonlinear systems. Faulttolerant control aims at a gradual shutdown response in automated systems when faults occur. They are works in progress, and will be continually updated and corrected. Lecture 1 lecture notes on fault tolerant control systems, by y. Its aim is to prevent that simple faults develop into serious failure. Faulttolerant topology control for heterogeneous wireless. The overall aim of an ftcs is to accommodate faults in the system components during operation and maintain stability with little or acceptable degradation in the performance levels.
If its operating quality decreases at all, the decrease is proportional to the severity of the failure, as compared to a naively designed system, in which even a small failure can cause total breakdown. Faulttolerant control systems reports the development of fault diagnosis and faulttolerant control ftc methods with their application to real plants. Validation methods for faulttolerant avionics and control. Pdf fault tolerant control of an hexacopter with a. The proposed scheme employs a standard configuration.
It begins with an introduction to the basic concepts of sliding modes to provide a background to the field. Faulttolerant computing is the art and science of building computing systems that continue to operate satisfactorily in the presence of faults. The entire proposed faulttolerant control algorithm contains a baseline controller, the fault detection and isolation. Fault tolerant control of power systems in presence of. The cartpole example 443 plying the suggested aftcs to the nonlinear benchmark controlledvia a simple linear quadratic regulator lqr designed for the linearized model of the inverted pendulum on a cart. The fault is diagnosed by using the information included in the model and in the online measurements. The faulttolerant controller is synthesized by using. Fault tolerance is an advanced designregulation method to ensure the system to work with tolerant performance degradation, when some component or. The latex template for the not so short introduction to latex2. Knowledge of software faulttolerance is important, so an introduction to software faulttolerance is also given. Nevertheless, the requirements from the use in faulttolerant architectures have caused new challenges and further development. Fault tolerant control offers enhanced availability and reduced risk of safety hazards when component failure and other unexpected events occur in a controlled plant. The state of the art in faulttolerant computer validation was examined in order to provide a framework for future discussions concerning research issues for the validation of faulttolerant avionics and flight control systems. Active fault tolerant flight control system design a uav case study rudaba khan 1, paul williams 2, paul riseborough, asha rao, and robin hill1 1department of mathematics and geospatial science, rmit university, melbourne, australia.
An introduction to the terminology is given, and different ways of achieving faulttolerance with redundancy is studied. The term faulttolerant system fts will be used to denote a controlled system which can still serve its purpose in spite of the occurrence of faults, at least for some time. Fault tolerant control laws nbsacr178094 eauit tolefrant costbol 87io400 laws final report boeiog ccrssercial airplane co. Robust and faulttolerant control proposes novel automatic control strategies for nonlinear systems developed by means of artificial neural networks and pays special attention to robust and faulttolerant approaches. After an introduction to fault diagnosis and ftc, a chapter on actuators and sensors in systems with varying degrees of nonlinearity leads to three chapters in which the design of ftc systems. Fdi actuator plant human interface controller sensor supervision fault fault fault reference input fig 1.
Realtime fault diagnosis and faulttolerant control ieee xplore. Basic scheme of a faulttolerant control system in advanced faulttolerant control systems, fault diagnosis has become a key issue of the tasks of the supervision level. A faulttolerant avionics system is a critical element of. Pdf fault diagnosis and faulttolerant control henrik. Diagnosis and fault tolerant control third edition pages.
Also, moving towards more electric engineaircraft meemea concept can achieve better fuel benefit. The demand of more electric engine aircraft mee mea increases with the need of onboard electrification system for future aircraft. Pdf fault tolerant control and fault detection and isolation. Vehicle fault tolerant control using a robust output fuzzy. Fault tolerant more electric engineaircraft architecture with integrated conditionbased control abstract. Thisreport isan introduction to faulttolerance concepts and systems, mainly from the hardware point of view. Fault detection theory has been the subject of intensive study for two decades. In this paper, an actuator faulttolerant control ftc strategy based on set separation is presented. These notes are for the graduate course on faulttolerant and secure control systems o. Fault tolerant control loop example the pump speed is the control variable the flow meter provides the primary pv to the loop slide 20 fault tolerant control loop example the tank level is the secondary pv to the control loop if the tank is full, the control system is.
Faulttolerant control aims at preventing component faults, component failures or subsystem faults from becoming system failures blanke et al. Research article global faulttolerant control of underactuated aerial vehicles with redundant actuators yushu yu 1,2 and yiqun dong 3 1department of mechanics and maritime sciences, chalmers university of technology, gothenburg se41296, sweden 2robotics institute, beihang university, beijing 100191, china 3department of mechanical engineering, university of michigan, ann arbor, mi 48109. The redundant actuator brings difficulty in fault identification and isolation. Fault tolerant more electric engineaircraft architecture. Faulttolerant control of unmanned underwater vehicles.
Major schemes are presented in algorithm form and demonstrated on industrial case systems. Finally, some real applications will be used to illustrate the usefulness and performance of setmembership methods for fd and ftc. Active faulttolerant control is adopted in this paper as it can detect actuator fault. Faulttolerant topology control for heterogeneous wireless sensor networks mihaela cardei, shuhui yang, and jie wu department of computer science and engineering florida atlantic university boca raton, fl 33431, usa email. Pdf concepts and methods in faulttolerant control mogens. The book presents effective modelbased analysis and design methods for fault diagnosis and faulttolerant control. Secondly, the model of the system is simulated in connection with a sliding mode. The international journal of robust and nonlinear control promotes development of analysis and design techniques for uncertain linear and. Actuator faulttolerant control based on set separation csic. The book discusses robustness and fault tolerance in the context of model predictive control, fault accommodation and reconfiguration, and iterative learning control strategies. In this paper, we consider the faulttolerant control problem for aerial vehicles with redundant actuators.
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