Reliability of any model-based failure detection and isolation (FDI) method depends on the amount of uncertainty in a system model. Recently, it has been shown that the use of joint torque sensing results in a simplified manipulator model that excludes hardly identifiable link dynamics and other nonlinearities such as friction, backlash, and flexibilities. In this paper, we show that the applic...

Abstract. The objective of this paper is to develop a hybrid scheme (nonlinear observer and fuzzy decision making) for fault detection and isolation (FDI) in the reaction wheels of a satellite. Specifically, the goal is to decide whether a bus voltage fault, a current fault or a temperature fault has occurred in one of the three reaction wheels and further to localize which fault has occurred. ...

In this paper, a new approach for fault detection and isolation that is based on the possibilistic clustering algorithm is proposed. Fault detection and isolation (FDI) is shown here to be a pattern classification problem, which can be solved using clustering and classification techniques. A possibilistic clustering based approach is proposed here to address some of the shortcomings of the fuzz...

This paper proposes an integrated actuator and sensor active fault-tolerant model predictive control (FTMPC) scheme. In this scheme, fault detection (FD) is implemented by using a set-valued observer, fault isolation (FI) is done by set manipulations and faulttolerant control (FTC) is carried out through the design of a robust model predictive control (MPC) law. In this paper, a set-valued obse...

AbstractIn this paper, a robust sensor fault detection and isolation (FDI) method based on the unknown input observer (UIO) approach is presented. The basic principle of unknown input observers is to decouple disturbances from the state estimation error. A single full-order observer is designed to detect sensor faults in the presence of unknown inputs (disturbances). By doing so, we generate a ...

This paper deals with a model based fault detection and isolation (FDI) approach in order to detect and to isolate the transmission channel fault from the actuators faults of a mobile robot. A Co-simulation with virtual robot is developed, allowing to understand the faults influences on the synthesized residuals. Simulation and experimental results show clearly the isolability between the studi...

A recent architecture based on the Youla parameterization is analyzed for the nominal and uncertain case. This special architecture is characterized by a separation principle for the controller. In this paper, several stability results that allow to extend the structure to the integrated control/filter approach are presented. Two algorithms based on the recursive design and nesting of the integ...

Fault detection and isolation (FDI) are essential in ensuring safe and reliable operations in industrial systems. Extensive research has been carried out on FDI for one dimensional (1-D) systems, where variables vary only with time. The existing FDI strategies are mainly focussed on 1-D systems and can generally be classified as model based and process history data based methods. In many indust...

Fault Detection and Isolation (FDI) problems are here considered for linear systems with faults and disturbances. We design a set of observer-based residuals, in such a way that the transfer from the disturbances to the residuals is zero and the transfer from the faults to the residuals allows fault isolation. We are interested in obtaining a transfer function from faults to residuals with eith...

A method for finer fault isolation or localization in the model based fault detection and isolation (FDI) paradigm is developed using parallely computed bond graph models. Many of the existing model based FDI methods are based on the evaluation of model consistency expressed in terms of analytical redundancy relations (ARR). These evaluations lead to residuals, and a number of sensors are to be...