Fault Detection and Isolation (eBook)

Preface 6
Acknowledgements 9
Contents 10
Acronyms 13
Introduction 14
1.1 Statement of the Work 14
1.2 Literature Review 15
1.2.1 Fault Detection and Isolation (FDI) 15
1.2.2 Network of Unmanned Vehicles 20
1.3 Features and Objectives of the Book 22
1.4 Outline of the Book 23
1.5 Notation 24
Geometric Approach to the Problem of Fault Detection and Isolation (FDI) 26
2.1 Structured Fault Detection and Isolation (FDI) 26
2.2 Geometric Approach to FDI of Linear Systems 30
2.3 Geometric Approach to FDI of Nonlinear Systems 36
2.4 Actuator Fault Modes 39
FDI in a Network of Unmanned Vehicles: Ideal Communication Channels 41
3.1 FDI Problem Formulation in a Network of Unmanned Vehicles 41
3.1.1 Centralized Architecture 43
3.1.2 Decentralized Architecture 44
3.1.3 Semi-decentralized Architecture 45
3.2 Proposed Structured Fault Detection and Isolation Scheme 46
3.3 Actuator Fault Detection and Isolation in a Network of Unmanned Vehicles 53
3.3.1 Centralized Architecture 53
3.3.2 Semi-decentralized Architecture 55
3.3.3 Simulation Results For Formation Flight of Satellites 56
3.4 Fault Detection and Isolation of an F-18 HARV (High Angle of Attack Research Vehicle) 59
3.5 Fault Detection and Isolation of Redundant Reaction Wheels of a Satellite 63
3.6 Conclusions 69
A Robust FDI Scheme with a Disturbance Decoupling Property 73
4.1 Introduction 73
4.2 Hybrid FDI Approach 76
4.2.1 Bank of Continuous-Time Residual Generators 78
4.2.2 Residual Evaluation Criteria 82
4.2.3 DES Fault Diagnoser 84
4.3 Hybrid Actuator FDI in a Network of Unmanned Vehicles 89
4.3.1 Simulation Results 91
4.4 Hybrid FDI Design for the Almost-Lighter-Than-Air-Vehicle (ALTAV) System 95
4.4.1 The ALTAV System 96
4.4.2 Design of a Hybrid FDI Scheme for the ALTAV System 98
4.4.3 Simulation Results 103
4.5 Conclusions 109
Compensating for Communication Channels Effects in the FDI Problem 111
5.1 Introduction 112
5.2 The Packet Erasure Channel Model 114
5.3 A Network of Unmanned Vehicles: Imperfect Communication Channels 116
5.4 Discrete-time Markovian Jump Systems (MJS) 120
5.4.1 Unobservable and Unobservability Subspaces 121
5.4.2 A Geometric Approach to Fault Detection and Isolation of Discrete-Time MJS Systems 131
5.4.3 An 135
based Fault Detection and Isolation Design Strategy 135
5.4.4 The FDI Scheme for Formation Flight of Satellites 139
5.5 Continuous-time Markovian Jump Systems (MJS) 140
5.5.1 Unobservable and Unobservability Subspaces 141
5.5.2 A Geometric Approach to the Fault Detection and Isolation of Continuous-Time MJS Systems 145
5.5.3 An 150
based Fault Detection and Isolation Design Strategy 150
5.5.4 A Case Study 154
5.6 Conclusions 156
Perspectives and Future Directions of Research 160
6.1 Future Research Directions 160
6.1.1 Fault Detection and Isolation of a Network of Unmanned Vehicles: Ideal Communication Channels 161
6.1.2 Fault Detection and Isolation of a Network of Unmanned Vehicles Subject to Large Environmental Disturbances 161
6.1.3 Fault Detection and Isolation of a Network of Unmanned Vehicles with Imperfect Communication Links 162
References 163
Index 174