access icon free Controlled invariance-based fault detection for multisensory control systems

In this study, set theoretic methods are used to design a fault-tolerant scheme for a multisensor control application. The basic principle is the separation of the invariant sets for the estimations of the state and tracking error under healthy and faulty functioning. The fault scenario assumes abrupt changes of the observation equations. The main contribution of this paper is the introduction of controlled invariant sets in the fault detection mechanism. The control action is chosen in order to guarantee the closed-loop positive invariance of a candidate region when the exogenous signals (additive disturbances, noise and reference/set-points) are bounded.

Inspec keywords: set theory; control system synthesis; sensor fusion; fault diagnosis; closed loop systems

Other keywords: additive disturbances; state error; reference-set-points; control action; faulty functioning; tracking error; observation equations; candidate region; exogenous signals; multisensory control systems; closed-loop positive invariance; healthy functioning; controlled invariance-based fault detection; invariant sets; set theoretic methods

Subjects: Control system analysis and synthesis methods; Combinatorial mathematics; Transducers and sensing devices

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