Meskin / Khorasani Fault Detection and Isolation

Multi-Vehicle Unmanned Systems
1. Auflage 2011
ISBN: 978-1-4419-8393-0
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 166 Seiten

'Fault Detection and Isolation: Multi-Vehicle Unmanned System' deals with the design and development of fault detection and isolation algorithms for unmanned vehicles such as spacecraft, aerial drones and other related vehicles. Addressing fault detection and isolation is a key step towards designing autonomous, fault-tolerant cooperative control of networks of unmanned systems. This book proposes a solution based on a geometric approach, and presents new theoretical findings for fault detection and isolation in Markovian jump systems. Also discussed are the effects of large environmental disturbances, as well as communication channels, on unmanned systems. The book proposes novel solutions to difficulties like robustness issues, as well as communication channel anomalies. 'Fault Detection and Isolation: Multi-Vehicle Unmanned System' is an ideal book for researchers and engineers working in the fields of fault detection, as well as networks of unmanned vehicles.

Autoren/Hrsg.

Meskin, Nader

Khorasani, Khashayar

Inhaltsverzeichnis

1;Preface;6
2;Acknowledgements;9
3;Contents;10
4;Acronyms;13
5;Introduction;14
5.1;1.1 Statement of the Work;14
5.2;1.2 Literature Review;15
5.2.1;1.2.1 Fault Detection and Isolation (FDI);15
5.2.2;1.2.2 Network of Unmanned Vehicles;20
5.3;1.3 Features and Objectives of the Book;22
5.4;1.4 Outline of the Book;23
5.5;1.5 Notation;24
6;Geometric Approach to the Problem of Fault Detection and Isolation (FDI);26
6.1;2.1 Structured Fault Detection and Isolation (FDI);26
6.2;2.2 Geometric Approach to FDI of Linear Systems;30
6.3;2.3 Geometric Approach to FDI of Nonlinear Systems;36
6.4;2.4 Actuator Fault Modes;39
7;FDI in a Network of Unmanned Vehicles: Ideal Communication Channels;41
7.1;3.1 FDI Problem Formulation in a Network of Unmanned Vehicles;41
7.1.1;3.1.1 Centralized Architecture;43
7.1.2;3.1.2 Decentralized Architecture;44
7.1.3;3.1.3 Semi-decentralized Architecture;45
7.2;3.2 Proposed Structured Fault Detection and Isolation Scheme;46
7.3;3.3 Actuator Fault Detection and Isolation in a Network of Unmanned Vehicles;53
7.3.1;3.3.1 Centralized Architecture;53
7.3.2;3.3.2 Semi-decentralized Architecture;55
7.3.3;3.3.3 Simulation Results For Formation Flight of Satellites;56
7.4;3.4 Fault Detection and Isolation of an F-18 HARV (High Angle of Attack Research Vehicle);59
7.5;3.5 Fault Detection and Isolation of Redundant Reaction Wheels of a Satellite;63
7.6;3.6 Conclusions;69
8;A Robust FDI Scheme with a Disturbance Decoupling Property;73
8.1;4.1 Introduction;73
8.2;4.2 Hybrid FDI Approach;76
8.2.1;4.2.1 Bank of Continuous-Time Residual Generators;78
8.2.2;4.2.2 Residual Evaluation Criteria;82
8.2.3;4.2.3 DES Fault Diagnoser;84
8.3;4.3 Hybrid Actuator FDI in a Network of Unmanned Vehicles;89
8.3.1;4.3.1 Simulation Results;91
8.4;4.4 Hybrid FDI Design for the Almost-Lighter-Than-Air-Vehicle (ALTAV) System;95
8.4.1;4.4.1 The ALTAV System;96
8.4.2;4.4.2 Design of a Hybrid FDI Scheme for the ALTAV System;98
8.4.3;4.4.3 Simulation Results;103
8.5;4.5 Conclusions;109
9;Compensating for Communication Channels Effects in the FDI Problem;111
9.1;5.1 Introduction;112
9.2;5.2 The Packet Erasure Channel Model;114
9.3;5.3 A Network of Unmanned Vehicles: Imperfect Communication Channels;116
9.4;5.4 Discrete-time Markovian Jump Systems (MJS);120
9.4.1;5.4.1 Unobservable and Unobservability Subspaces;121
9.4.2;5.4.2 A Geometric Approach to Fault Detection and Isolation of Discrete-Time MJS Systems;131
9.4.3;5.4.3 An;135
9.4.4;based Fault Detection and Isolation Design Strategy;135
9.4.5;5.4.4 The FDI Scheme for Formation Flight of Satellites;139
9.5;5.5 Continuous-time Markovian Jump Systems (MJS);140
9.5.1;5.5.1 Unobservable and Unobservability Subspaces;141
9.5.2;5.5.2 A Geometric Approach to the Fault Detection and Isolation of Continuous-Time MJS Systems;145
9.5.3;5.5.3 An;150
9.5.4;based Fault Detection and Isolation Design Strategy;150
9.5.5;5.5.4 A Case Study;154
9.6;5.6 Conclusions;156
10;Perspectives and Future Directions of Research;160
10.1;6.1 Future Research Directions;160
10.1.1;6.1.1 Fault Detection and Isolation of a Network of Unmanned Vehicles: Ideal Communication Channels;161
10.1.2;6.1.2 Fault Detection and Isolation of a Network of Unmanned Vehicles Subject to Large Environmental Disturbances;161
10.1.3;6.1.3 Fault Detection and Isolation of a Network of Unmanned Vehicles with Imperfect Communication Links;162
11;References;163
12;Index;174