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1
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Fault diagnosis and fault tolerant control using set-membership approaches: Application to real case studies

100%
Puig V.
International Journal of Applied Mathematics and Computer Science
|
2010
|
tom 20
|
nr 4
619-635
EN
This paper reviews the use of set-membership methods in fault diagnosis (FD) and fault tolerant control (FTC). Setmembership methods use a deterministic unknown-but-bounded description of noise and parametric uncertainty (interval models). These methods aims at checking the consistency between observed and predicted behaviour by using simple sets to approximate the exact set of possible behaviour (in the parameter or the state space). When an inconsistency is detected between the measured and predicted behaviours obtained using a faultless system model, a fault can be indicated. Otherwise, nothing can be stated. The same principle can be used to identify interval models for fault detection and to develop methods for fault tolerance evaluation. Finally, some real applications will be used to illustrate the usefulness and performance of set-membership methods for FD and FTC.
2
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Robust quasi-LPV model reference FTC of a quadrotor UAV subject to actuator faults

51%
Rotondo D., Nejjari F., Puig V.
International Journal of Applied Mathematics and Computer Science
|
2015
|
tom 25
|
nr 1
7-22
EN
A solution for fault tolerant control (FTC) of a quadrotor unmanned aerial vehicle (UAV) is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being able to merge the benefits of active and passive FTC while reducing their respective drawbacks. The controller is generated using results from the robust linear parameter varying (LPV) polytopic framework, where the vector of varying parameters is used to schedule between uncertain linear time invariant (LTI) systems. The design procedure relies on solving a set of linear matrix inequalities (LMIs) in order to achieve regional pole placement and H∞ norm bounding constraints. Simulation results are used to compare the different FTC strategies.
3
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Reliability-based economic model predictive control for generalised flow-based networks including actuators' health-aware capabilities

51%
Grosso J., Ocampo-Martinez C., Puig V.
International Journal of Applied Mathematics and Computer Science
|
2016
|
tom 26
|
nr 3
641-654
EN
This paper proposes a reliability-based economic model predictive control (MPC) strategy for the management of generalised flow-based networks, integrating some ideas on network service reliability, dynamic safety stock planning, and degradation of equipment health. The proposed strategy is based on a single-layer economic optimisation problem with dynamic constraints, which includes two enhancements with respect to existing approaches. The first enhancement considers chance-constraint programming to compute an optimal inventory replenishment policy based on a desired risk acceptability level, leading to dynamical allocation of safety stocks in flow-based networks to satisfy non-stationary flow demands. The second enhancement computes a smart distribution of the control effort and maximises actuators' availability by estimating their degradation and reliability. The proposed approach is illustrated with an application of water transport networks using the Barcelona network as the case study considered.
4
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Fault-tolerant control strategy for actuator faults using LPV techniques: Application to a two degree of freedom helicopter

51%
Montes de Oca S., Puig V., Witczak M., Dziekan Ł.
International Journal of Applied Mathematics and Computer Science
|
2012
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tom 22
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nr 1
161-171
EN
In this paper, a Fault Tolerant Control (FTC) strategy for Linear Parameter Varying (LPV) systems that can be used in the case of actuator faults is proposed. The idea of this FTC method is to adapt the faulty plant instead of adapting the controller to the faulty plant. This approach can be seen as a kind of virtual actuator. An integrated FTC design procedure for the fault identification and fault-tolerant control schemes using LPV techniques is provided as well. Fault identification is based on the use of an Unknown Input Observer (UIO). The FTC controller is implemented as a state feedback controller and designed using polytopic LPV techniques and Linear Matrix Inequality (LMI) regions in such a way as to guarantee the closed-loop behavior in terms of several LMI constraints. To assess the performance of the proposed approach, a two degree of freedom helicopter is used.
5
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Robust fault detection of singular LPV systems with multiple time-varying delays

51%
Hassanabadi A., Shafiee M., Puig V.
International Journal of Applied Mathematics and Computer Science
|
2016
|
tom 26
|
nr 1
45-61
EN
In this paper, the robust fault detection problem for LPV singular delayed systems in the presence of disturbances and actuator faults is considered. For both disturbance decoupling and actuator fault detection, an unknown input observer (UIO) is proposed. The aim is to compute a residual signal which has minimum sensitivity to disturbances while having maximum sensitivity to faults. Robustness to unknown inputs is formulated in the sense of the H∞ -norm by means of the bounded real lemma (BRL) for LPV delayed systems. In order to formulate fault sensitivity conditions, a reference model which characterizes the ideal residual behavior in a faulty situation is considered. The residual error with respect to this reference model is computed. Then, the maximization of the residual fault effect is converted to minimization of its effect on the residual error and is addressed by using the BRL. The compromise between the unknown input effect and the fault effect on the residual is translated into a multi-objective optimization problem with some LMI constraints. In order to show the efficiency and applicability of the proposed method, a part of the Barcelona sewer system is considered.
6
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Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation

45%
Xu F., Puig V., Ocampo-Martinez C., Olaru S., Niculescu S.-I.
International Journal of Applied Mathematics and Computer Science
|
2017
|
tom 27
|
nr 1
43-61
EN
In this paper, a fault-tolerant control (FTC) scheme is proposed for actuator faults, which is built upon tube-based model predictive control (MPC) as well as set-based fault detection and isolation (FDI). In the class of MPC techniques, tubebased MPC can effectively deal with system constraints and uncertainties with relatively low computational complexity compared with other robust MPC techniques such as min-max MPC. Set-based FDI, generally considering the worst case of uncertainties, can robustly detect and isolate actuator faults. In the proposed FTC scheme, fault detection (FD) is passive by using invariant sets, while fault isolation (FI) is active by means of MPC and tubes. The active FI method proposed in this paper is implemented by making use of the constraint-handling ability of MPC to manipulate the bounds of inputs. After the system has been detected to become faulty, the input-constraint set of the MPC controller is adjusted to actively excite the system for achieving FI guarantees on-line, where an active FI-oriented input set is designed off-line. In this way, the system can be excited in order to obtain more extra system-operating information for FI than passive FI approaches. Overall, the objective of this paper is to propose an actuator MPC scheme with as little as possible of FI conservatism and computational complexity by combining tube-based MPC and set theory within the framework of MPC, respectively. Finally, a case study is used to show the effectiveness of the proposed FTC scheme.
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