Download or read book Robust Model Based Fault Diagnosis for Unmanned Underwater Vehicles Using Sliding Mode Observers written by and published by . This book was released on 1999 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: The early detection of the malfunctions and faults as well as their compensation is crucial both for maintenance and for mission reliability of unmanned underwater vehicles (UUVs). Among the different fault detection methods using analytical redundancy, the first distinction rises between model-free and model-based approaches. Model-free methods are well-suited for large-scale systems, where the development of a model is too expensive. The lumped parameter model of an underwater vehicle can be easily described by a small set of well-known equations with highly uncertain parameters. This uncertainty suggests the introduction of robustness requirements in the model-based residual generation for UUVs. Robustness can be addressed in many different ways. According to the same view, the so-called unknown input observer (UIO) has been proposed. These approaches share the common idea of decoupling residuals and noises by eliminating (or at least reducing in some optimal sense) the influence of the disturbances on the residuals.

Download or read book Robust Model Based Fault Diagnosis for Dynamic Systems written by Jie Chen and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is an increasing demand for dynamic systems to become more safe and reliable. This requirement extends beyond the normally accepted safety-critical systems of nuclear reactors and aircraft where safety is paramount important, to systems such as autonomous vehicles and fast railways where the system availability is vital. It is clear that fault diagnosis (including fault detection and isolation, FDI) has been becoming an important subject in modern control theory and practice. For example, the number of papers on FDI presented in many control-related conferences has been increasing steadily. The subject of fault detection and isolation continues to mature to an established field of research in control engineering. A large amount of knowledge on model-based fault diagnosis has been ac cumulated through the literature since the beginning of the 1970s. However, publications are scattered over many papers and a few edited books. Up to the end of 1997, there is no any book which presents the subject in an unified framework. The consequence of this is the lack of "common language", dif ferent researchers use different terminology. This problem has obstructed the progress of model-based FDI techniques and has been causing great concern in research community. Many survey papers have been published to tackle this problem. However, a book which presents the materials in a unified format and provides a comprehensive foundation of model-based FDI is urgently needed.

Download or read book Fault Diagnosis and Fault Tolerance for Mechatronic Systems Recent Advances written by Fabrizio Caccavale and published by Springer. This book was released on 2003-09-05 with total page 199 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book will play a central role in ensuring safe and reliable behaviour of intelligent and autonomous systems. It collects some of the most recent results in fault diagnosis and fault tolerant systems, with particular emphasis on mechatronic systems.

Download or read book AUV Fault Detection Using Model Based Observer Residuals written by James E. Melvin and published by . This book was released on 1998-06-01 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: In order for the Navy's next generation Unmanned Undersea Vehicles to be more robust to software/hardware faults, on-line failure detection and resolution is needed. Typically, fault detection methods include limits and trends analysis, model free, and model based techniques. Here, model based observers are proposed for the detection of fault induced dynamic signals in the diving, steering, and roll control systems. Such automatic fault detection systems were designed and implemented in a Simulink model of the "21UUV." in the course of conducting simulations with the model, numerous vehicle behaviors were studied and detection response was verified. In addition, the model based observer residuals may be designed to distinguish actuator faults from wave disturbances and fin faults from maneuvering responses.

Download or read book Proceedings of 2022 International Conference on Autonomous Unmanned Systems ICAUS 2022 written by Wenxing Fu and published by Springer Nature. This book was released on 2023-03-10 with total page 3985 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.

Download or read book Robust Observer Based Fault Diagnosis for Nonlinear Systems Using MATLAB written by Jian Zhang and published by Springer. This book was released on 2016-05-27 with total page 231 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces several observer-based methods, including: • the sliding-mode observer • the adaptive observer • the unknown-input observer and • the descriptor observer method for the problem of fault detection, isolation and estimation, allowing readers to compare and contrast the different approaches. The authors present basic material on Lyapunov stability theory, H¥ control theory, sliding-mode control theory and linear matrix inequality problems in a self-contained and step-by-step manner. Detailed and rigorous mathematical proofs are provided for all the results developed in the text so that readers can quickly gain a good understanding of the material. MATLAB® and Simulink® codes for all the examples, which can be downloaded from http://extras.springer.com, enable students to follow the methods and illustrative examples easily. The systems used in the examples make the book highly relevant to real-world problems in industrial control engineering and include a seventh-order aircraft model, a single-link flexible joint robot arm and a satellite controller. To help readers quickly find the information they need and to improve readability, the individual chapters are written so as to be semi-independent of each other. Robust Oberserver-Based Fault Diagnosis for Nonlinear Systems Using MATLAB® is of interest to process, aerospace, robotics and control engineers, engineering students and researchers with a control engineering background.

Download or read book Fundamental Design and Automation Technologies in Offshore Robotics written by Hamid Reza Karimi and published by Academic Press. This book was released on 2020-10-06 with total page 362 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental Design and Automation Technologies in Offshore Robotics introduces technological design, modelling, stability analysis, control synthesis, filtering problem and real time operation of robotics vehicles in offshore environments. The book gives numerical and simulation results in each chapter to reflect the engineering practice yet demonstrate the focus of the developed analysis and synthesis approaches. The book is ideal to be used as a reference book for senior and graduate students. It is written in a way that the presentation is simple, clear, and easy to read and understand which would be appreciated by graduate students. Researchers working on marine vehicles and robotics would be able to find reference material on related topics from the book. The book could be of a significant interest to the researchers within offshore and deep see society, including both academic and industrial parts. - Provides a series of latest results in, including but not limited to, motion control, robotics, and multi-vehicle systems towards offshore environment - Presents recent advances of theory, technological aspects, and applications of robotics in offshore environment - Offers a comprehensive and up-to-date references, which plays an indicative role for further study of the reader

Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-22 with total page 294 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.

Download or read book Model Based Fault Diagnosis in Complex Control Systems written by Weitian Chen and published by . This book was released on 2007 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis deals with model based fault diagnosis problems for several classes of systems with complexities such as uncertainties and nonlinearities. To deal with system complexities, robust and adaptive approaches are used as the main tools. To focus more on fault isolation and estimation, novel observer and output estimator based fault diagnosis schemes are proposed. Chapters 2 to 4 employ robust approaches to deal with complexities such as nonlinearities and nonparametric uncertainties. Robust observers, that is, Unknown Input Observers (UIOs) and Sliding Mode Observers (SMOs), are designed to solve fault diagnosis problems for Lipschitz nonlinear systems and Takagi-Sugeno fuzzy system represented uncertain nonlinear systems. UIO and SMO based fault diagnosis schemes, whose main novelty lies in the fault isolation, are proposed. Chapters 5 and 6 also use robust approaches to attack more challenging complexities such as unmatched uncertainties. A novel idea which advocates output estimator design and abandons the state observer design is proposed. Robust output estimator based fault diagnosis schemes are developed for a class of linear systems with both matched and unmatched non-parametric uncertainties. The output estimator approach is extended to a more general class of linear systems, and a high-order sliding mode differentiator based actuator fault diagnosis scheme is designed, which is the first in fault diagnosis. Chapters 7 and 8 use adaptive approaches to cope with complexities such as parametric uncertainties. Adaptive output estimator based fault diagnosis schemes are designed for sensor and actuator fault diagnosis problems in unknown linear Multi-Input Multi-Output (MIMO) and Multi-Input Single-Output (MISO) systems. A novel idea involving integration of fault isolation design functions into controller designs is put forward in actuator fault diagnosis. The results in this thesis demonstrate that: 1) the proposed robust observer based fault diagnosis schemes are powerful in dealing with matched uncertainties and certain types of nonlinearities; 2) the proposed robust output estimator (and output derivative estimator) based fault diagnosis schemes are powerful in counteracting unmatched non-parametric uncertainties; and 3) the adaptive output estimator approach is very promising and powerful in coping with parametric uncertainties. The thesis concludes by discussing important open problems for future research.

Download or read book Artificial Intelligence and Data Science Based R D Interventions written by Ratnajit Bhattacharjee and published by Springer Nature. This book was released on with total page 227 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robust Fault Diagnosis in Linear and Nonlinear Systems Based on Unknown Input and Sliding Mode Functional Observer Methodologies written by and published by . This book was released on 2001 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robust Fault Diagnosis and Compensation in Nonlinear Systems Via Sliding Mode and Iterative Learning Observers written by Wen Chen and published by . This book was released on 2003 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Fault Diagnosis in Nonlinear Systems Using Learning and Sliding Mode Approaches with Applications for Satellite Control Systems written by Qing Wu and published by . This book was released on 2008 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, model based fault detection, isolation, and estimation problem in several classes of nonlinear systems is studied using sliding mode and learning approaches. First, a fault diagnosis scheme using a bank of repetitive learning observers is presented. The diagnostic observers are established in a generalized observer scheme, and the observer inputs are repetitively updated using the output estimation error in a proportional-integral structure. Next, a framework for robust fault diagnosis using sliding mode and learning approaches is proposed to deal with various types of faults in a class of nonlinear systems with triangular input form. In the designed diagnostic observers, first order and second order sliding modes are used respectively, to achieve robust state estimation in the presence of uncertainties, and additional online estimators are established to characterize the faults. In order to guarantee that the sliding mode is able to distinguish the system uncertainties from the faults, two iterative adaptive laws are used to update the sliding mode switching gains. Moreover, different online fault estimators are developed using neural state space models, iterative learning algorithms, and wavelet networks. Another class of nonlinear systems where an unmeasurable part of state can be described as a nonlinear function of the output and its derivatives is considered next. Accordingly, a class of fault diagnosis schemes using high order sliding mode differentiators (HOSMDs) and online estimators are proposed, where neural adaptive estimators and iterative neuron PID estimators are designed. Additionally, a fault diagnosis scheme using HOSMDs and neural networks based uncertainty observers is designed in order to achieve a better performance in robust fault detection. If the uncertainties can be accurately estimated, the generated diagnostic residual is more sensitive to the onset of faults. Finally, a fault diagnosis scheme using Takagi-Sugeno (TS) fuzzy models, neural networks, and sliding mode is developed. The availability of TS fuzzy models makes this fault diagnosis scheme applicable to a wider class of nonlinear systems. The proposed fault diagnosis schemes are applied to several types of satellite control systems, and the simulation results demonstrate their performance.

Download or read book Optimal Fault Detection and Resolution During Maneuvering for Autonomous Underwater Vehicles written by Andrew S. Gibbons and published by . This book was released on 2000 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: In order to increase robustness, reliability, and mission success rate, autonomous vehicles must detect debilitating system control faults. Prior model-based observer design for 21UUV was analyzed using actual vehicle sensor data. It was shown, based on experimental response, that residual generation during maneuvering was too excessive to detect manually implemented faults. Optimization of vehicle hydrodynamic coefficients in the model significantly decreased maneuvering residuals, but did not allow for adequate fault detection. Kalman filtering techniques were used to improve residual reduction during maneuvering and increase residual generation during fault conditions. Optimization of the Kalman filter's system noise matrix, measurement noise matrix, and input gain scalar multiplier produced fault resolution which allowed for accurate detection of fault of relatively minor magnitude within minimal time constraints.

Download or read book Sliding Mode Observer Based Robust Fault Detection and Isolation written by Hawraa Fouad Almusawi and published by LAP Lambert Academic Publishing. This book was released on 2016-01-20 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: The early detection and isolation of the faults in a systems be difficult when a failure occurs. This is due to several factors, including the large number of elements which designed such systems and complexity of interdependence which is sometimes difficult to understand. This book has proposed a method more suitable for early detection and isolation of faults, this method is based on acombination between analytical based technique (sliding mode observer ) and knowledge based technique (fuzzy logic controller). The sliding mode observer technique was used for the fault detection purpose based on residual signal which represent the difference between output of the process and output of the model that used as a fault indicator, while the fuzzy logic technique was used as a fault isolator depending on fuzzy rules base and fuzzy membership functions. The performance of this hybrid technique is evaluated on a model of DC motor, the proposed scheme is illustrated on a Matlab/Simulink simulator and the results demonstrated a successful implementation of the proposed FDI scheme. This book deals with additive faults, these faults can either occur at the actuator or the sensor of the syste

Download or read book Fault Detection and Fault Tolerant Control Using Sliding Modes written by Halim Alwi and published by Springer Science & Business Media. This book was released on 2011-06-07 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fault Detection and Fault-tolerant 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 fault-tolerant control in dynamical engineering systems. It begins with an introduction to the basic concepts of sliding modes to provide a background to the field. This is followed by chapters that describe the use and design of sliding-mode observers for FDI using robust fault reconstruction. The development of a class of sliding-mode observers is described from first principles through to the latest schemes that circumvent minimum-phase and relative-degree conditions. Recent developments have shown that the field of fault tolerant control is a natural application of the well-known robustness properties of sliding-mode control. A family of sliding-mode control designs incorporating control allocation, which can deal with actuator failures directly by exploiting redundancy, is presented. Various realistic case studies, specifically highlighting aircraft systems and including results from the implementation of these designs on a motion flight simulator, are described. A reference and guide for researchers in fault detection and fault-tolerant control, this book will also be of interest to graduate students working with nonlinear systems and with sliding modes in particular. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Download or read book Robust Fault Diagnosis in Linear and Nonlinear Systems Based on Unknown Input and Sliding Mode Functional Observer Methodologies microform written by Yi Xiong and published by National Library of Canada = Bibliothèque nationale du Canada. This book was released on 2001 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt: