Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, the effect of faults and errors in one or more of the sub-systems can easily spread throughout the network, quickly degrading the performance of the entire system. In consensus-driven dynamics, the effects of faults are particularly relevant because of the presence of unconstrained rigid modes in the transfer function of the system. Here, we propose a two-stage technique for the identification and accommodation of a biased-measurements agent, in a network of mobile robots with time invariant interaction topology. We assume these interactions to only take place in the form of relative position measurements. A fault identification filter deployed on a single observer agent is used to estimate a single fault occurring anywhere in the network. Once the fault is detected, an optimal leader-based accommodation strategy is initiated. Results are presented by means of numerical simulations and robot experiments.
University of Oxford（牛津大学）；Amazon Web Services（亚马逊云科技）；Delft University of Technology（代尔夫特理工大学）
Model-based fault-tolerant control (FTC) often consists of two distinct steps: fault detection & isolation (FDI), and fault accommodation. In this work we investigate posing fault-tolerant control as a single Bayesian inference problem. Previous work showed that precision learning allows for stochastic FTC without an explicit fault detection step. While this leads to implicit fault recovery, information on sensor faults is not provided, which may be essential for triggering other impact-mitigation actions. In this paper, we introduce a precision-learning based Bayesian FTC approach and a novel…
Delft University of Technology（代尔夫特理工大学）；Oxford Robotics Institute, University of Oxford（牛津大学牛津机器人研究所）
This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of probabilistically robust thresholds for fault-tolerant control of robotic systems using the free-energy. The proposed solution makes use of the sensory prediction errors in the free-energy for the generation of residuals and thresholds for fault detection and isolation of sensory faults, and it does not require additional controllers for fault recovery. Result…
University of Guelph（圭尔夫大学）；China Ship Scientific Research Center（中国船舶科学研究中心）
This paper proposes an intelligent fault-tolerant control (FTC) strategy to tackle the trajectory tracking problem of an underwater vehicle (UV) under thruster damage (power loss) cases and meanwhile resolve the actuator saturation brought by the vehicle's physical constraints. In the proposed control strategy, the trajectory tracking component is formed by a refined backstepping algorithm that controls the velocity variation and a sliding mode control deducts the torque/force outputs; the fault-tolerant component is established based on a Grasshopper Optimization Algorithm (GOA), which provid…
Technische Universität Braunschweig（布伦瑞克工业大学）；Institute of Control Engineering（控制工程研究所）
The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional redundancies among the actuators, is one means to achieve the required degree of fault tolerance. Therefore, we give a comprehensive overview of the state of the art in actuator fault-tolerant vehicle motion control with a focus on drive, brake, and steering degradations, as well as tire blowouts. This review shows that actuator fault-tolerant vehicle motion…
This paper addresses the problem of control of a twin wind turbine which is subject to an electrical fault affecting only one stator phase of one turbine. An active fault tolerant control is proposed. The performance and robustness of the proposed control, comparing to a passive fault tolerant one developed in the literature, are shown through numerical simulations.
This paper considers the problem of simultaneous sensor fault detection, isolation, and networked estimation of linear full-rank dynamical systems. The proposed networked estimation is a variant of single time-scale protocol and is based on (i) consensus on \textit{a-priori} estimates and (ii) measurement innovation. The necessary connectivity condition on the sensor network and stabilizing block-diagonal gain matrix is derived based on our previous works. Considering additive faults in the presence of system and measurement noise, the estimation error at sensors is derived and proper residual…
This paper addresses the issue of power flow control for partially faulty microgrids. In microgrid control systems, faults may occur in both electrical and communication layers. This may have severe effects on the operation of microgrids. In addition, disturbances always coexist with faults in microgrids, which may further deteriorate system performance. To address the faults and disturbances simultaneously, a model predictive control (MPC) method based on set-membership estimation (SME) that transmits information via a communication network is proposed. When electrical devices are nonfunction…
An Adaptive Fault-tolerant Controller procedure for a class of the affine nonlinear system is developed in this paper. This methodology hides both the faults and external disturbances. Compare to the procedure that require separate fault detection, isolation, and identification units, the suggested method concentrates on fault hiding to reduce the units. The main merits of the proposed method are 1) guaranteed stability of the closed loop system, 2) convergence of the states of nominal and faulty systems to zero, and 3) convergence of the tracking error to the origin. The robustness of present…
This paper investigates the asymptotical cooperative cruise fault tolerant control problem for multiple high-speed trains consisting of multiple carriages in the presence of actuator faults. A distributed state-fault observer utilizing the structural information of faults is designed to achieve asymptotical estimation of states and faults of each carriage. The observer does not rely on choice of control input, and thus it is separated from controller design. Based on the estimated values of states and faults, a distributed fault tolerance controller is designed to realize asymptotical cooperat…
Fault detection and reconfiguration in fault-tolerant converters may complicated and necessitate using all-purpose microprocessors and high-speed sensors to guarantee the satisfactory performance of power converters. Therefore, providing fault-clearing feature without increasing the processing and sensing burdens and reducing the transition time between faulty to normal state are of great importance. This research proposes a new redundant-switch configuration to address the mentioned challenges. The proposed configuration uses one diode and two fuses to eliminate the faulty switch and replace …
Fault-Tolerant Control of a 2 DOF Helicopter (TRMS System) Based on H_infinity
LASS Laboratory, Department of Electrical engineering, University of M’sila（穆西拉大学电气工程系LASS实验室）；LASS Laboratory, Department of Electronics, University of M’sila（穆西拉大学电子系LASS实验室）；Department of Electronics, University of Blida（布利达大学电子系）
Distributed Adaptive Fault-Tolerant Control of Uncertain Multi-Agent Systems
Wright State University（赖特州立大学）；University of Cyprus（塞浦路斯大学）；Imperial College London（伦敦帝国学院）；University of Trieste（的里雅斯特大学）；Air Force Research Laboratory（空军研究实验室）
Vanderbilt University（范德堡大学）；Institute of Software Integrated Systems, Vanderbilt University（范德堡大学软件集成系统研究所）
A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it can approximate one in real-time. We present two adaptive fault-tolerant control schemes for a discrete time system based on hierarchical reinforcement learning. We compare their performance against a model predictive controller in presence of sensor noise and persistent faults. The controllers are tested on a fuel tank model of a C-130 plane. Our experimen…
This paper investigates the mechanism of various faults of momentum exchange devices. These devices are modeled as a cascade electric motor EM - variable speed drive VSD system. Considering the mechanical part of the EM and the VSD system, the potential faults are reviewed and summarized. Thus with a clear understanding of these potential faults, a general fault model in a cascade multiplicative structure is established for momentum exchange devices. Based on this general model, various fault scenarios can be simulated, and the possible output can be appropriately visualized. In this paper, si…
