This paper studies recursive optimal filtering as well as robust fault and state estimation for linear stochastic systems with unknown disturbances. It proposes a new recursive optimal filter structure with transformation of the original system. This transformation is based on the singular value decomposition of the direct feedthrough matrix distribution of the fault which is assumed to be of a...

Information technology and artificial intelligence technology hold great potential for enabling the distributed and intelligent fault diagnosis. Hydraulic motor is a common actuator having a high impact on the system performance. There has been significant work on fault detection and diagnosis for hydraulic motors. This paper presents a multi-agent framework for hydraulic motor fault diagnosis ...

The use of autonomous helicopters in civilian applications requires the improvement of safety conditions to avoid potential accidents. Fault detection and isolation (FDI) plays an important role in this context. This paper presents an actuator and sensor FDI system for small autonomous helicopters. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehi...

The use of autonomous helicopters in civilian applications requires the improvement of safety conditions to avoid potential accidents. Fault detection and isolation (FDI) plays an important role in this context. This paper presents an actuator and sensor FDI system for small autonomous helicopters. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehi...

This paper investigates the problem of fault detection and isolation for discrete linear systems subjected to unknown disturbances, actuator and sensor faults. A bank of Robust Two Stage Kalman filters is adapted to estimate both the state and the fault as well as to generate the residuals. Besides, this paper presents the evaluation of the residuals with Bayes test of binary hypothesis test fo...

For the actuators fault of reconfigurable modular robots, a backstepping decentralized fault tolerant control (DFTC) algorithm is proposed. The reconfigurable robot system is divied into a set of interconnected subsystems. The fault tolerant controller is designed based on backstepping method. It is hard to obtain the model parameters uncertainty term and interconnected term, so the adaptive fu...

In this work, an H∞ performance fault recovery control problem for a team of multi-agent systems that is subject to actuator faults is studied. Our main objective is to design a distributed control reconfiguration strategy such that a) in absence of disturbances the state consensus errors either remain bounded or converge to zero asymptotically, b) in presence of actuator fault the output of th...

Model-based fault detection relies on checking the discrepancy between the measurements obtained from a monitored process and its model. In general, the model representing the process behaviour has substantial uncertainties. In this contribution, two fault detection methods that explicitly take the modelling uncertainties into account are presented and compared. The first approach uses the inte...