The present paper deals with the interplay between healthy and faulty sensor functioning in a multisensor scheme based on a switching control strategy. Fault tolerance guarantees have been recently obtained in this framework based upon the characterisation of invariant sets for state estimations in healthy and faulty functioning. A source of conservativeness of this approach is related to the issue of sensor recovery. A common working hypothesis has been to assume that once a sensor switches to faulty functioning it can no longer be used by the control mechanism even if at an ulterior moment it switches back to healthy functioning. In the current paper, we present necessary and sufficient conditions for the acknowledgement of sensor recovery and we propose and compare different techniques for the reintegration of sensors in the closed-loop decision-making mechanism.
The present paper proposes a switching control scheme for a plant with multiple sensor–estimator/control–actuator pairs. The scheme is shown to handle the specific stability problems originated by the switching between the different feedback loops and accommodate to faults in the measurement (sensors) channels. The main contribution is a fault tolerant switching scheme with stability guarantees assured by a pre-imposed dwell time. The detection and the fault tolerance capabilities are achieved through the separation of sets associated with suitable residual signals corresponding to healthy and faulty functioning. Another contribution of the paper resides in a recovery technique for the post-fault reintegration of the biased estimations. This technique makes use of a virtual sensor whose associated estimation, based on an optimization procedure, minimizes the recovery time.
The present paper deals with the reference tracking problem for processes with linear dynamics and multisensor information subject to abrupt sensor faults. A key point for fault tolerance will be the separation between healthy and faulty closed-loop behavior upon a set-characterization approach. This is achieved through set theoretic operations involving the healthy/faulty behavior of residual signals related to the system dynamics. As a main contribution, a reference governor scheme is designed using a receding horizon technique. It is shown that fault detection guarantees can be achieved by appropriate adjusting of the governor's delay/prediction window under mild assumptions on the fault scenario.
This paper deals with robust invariant sets construction for discrete-time linear timeinvariant dynamics. The case of a zonotopic disturbance set is analysed in detail by exploiting the properties of these geometrical structures. A constructive method is provided for diminishing the conservatism of ultimate bound invariant sets. It is shown that the resulting zonotopic set is related to the minimal robust positively invariant set in the sense that their boundaries have common points.
This paper presents a fault tolerant multisensor strategy for feedback control of a class of nonlinear systems upon a geometrical approach. A key point to ensure fault tolerance is the separation between healthy and faulty closed-loop behavior. Here we achieve this through set theoretic operations upon sets describing the healthy/faulty behavior of the system. The results rely both on an appropriate choice for the exogenous signals and on fixed point conditions for a nonlinear mapping which describes the gap between the nonlinear system and a linearized model in the functioning interval. A reference governor is employed such that, under a receding horizon technique, only feasible exogenous signals are provided to the system.
This paper deals with a multisensor scheme based on set theoretic principles, whereby different invariant sets that characterize healthy and faulty functioning of system components are computed offline. Such sets allow to partition the ensemble of sensors into ‘healthy’, ‘faulty’ and ‘under recovery’ subclasses. Fault detection and isolation consists of online setmembership verifications with low computational complexity. Sensors that are deemed healthy are utilized in the computation of the feedback control law, while sensors that are deemed ‘faulty’ or ‘under recovery’ are prevented from participating in the feedback control action. The main focus of this paper is on the reintegration of ‘under recovery’ sensors, that is to say, the transition of sensors from the ‘under recovery’ to the ‘healthy’ sensor subclass. This transition, in contrast to all other possible transitions, is particularly difficult to evaluate since it involves set membership conditions based on unmeasurable quantities.
This difficulty is circumvented by resorting to necessary and sufficient conditions for the recognition of recovery, which are based exclusively upon measurable quantities. The interplay between the necessary conditions and the sufficient conditions, together with the particular system structure and fault detection mechanism, allows to obtain further important improvements in the recovery procedure in terms of transient times and sensitivity to the topology of the invariant sets.
The present paper deals with a switching control scheme for a plant with multiple estimator-controller-actuator pairs. The scheme has to deal with specific problems originated by the switching between the different feedback loops and accommodate to faults in the observation channels (sensors outputs). The main contribution is a fault tolerant switching scheme with stability guarantees assured by a pre-imposed dwell-time. The detection and the fault tolerance capabilities are assured through set separation for the residual signals corresponding to healthy and faulty functioning. Another contribution of the paper resides in a recovery technique for faulty sensors which makes use of a virtual sensor whose estimation, based on an optimization procedure, minimizes recovery time.
This article deals with fault tolerant multisensor control schemes for systems with linear dynamics. Positive invariance is a common analysis and control design tool for systems affected by bounded constraints and disturbances. This article revisits the construction of \epsilon-approximations of minimal robust positive invariant sets
for linear systems upon contractive set-iterations. The cases of switching between different sets of disturbances and the inclusion of a predefined region of the state space are treated in detail. All these results are used in multisensor control schemes which have to deal with specific problems originated by the switching between different estimators and by the presence of faults in some of the sensors. The construction of positive invariant sets for different operating regimes provides, in this context, effective fault detection information. Within the same framework, global stability of the switching strategies can be assured if the invariant sets topology allows
the exclusive selection of estimates obtained from healthy sensors.
The present paper deals with a multisensor scheme based on a switching control strategy. Fault tolerance guarantees were obtained in this framework lately upon the characterization of invariant sets for state estimations in healthy and faulty functioning. A source of conservativeness of this approach is related to the issue of sensor recovery. Thus, in the previous work, it was supposed that the sensors are functioning under healthy dynamics for a long enough time, in order to enter the respective invariant sets, before being considered for feedback. In the current paper we present necessary and sufficient conditions for the acknowledgement of sensor recovery and the reintegration of sensors in the closed-loop decision making mechanism.