Fault Diagnosis and Fault Tolerance for Mechantronic Systems

by Caccavale, Fabrizio; Villani, Luigi

• ISBN13: 9783540441595
• ISBN10: 354044159X
• Format: Hardcover
• Copyright: 2002-10-01
• Publisher: Springer Verlag

Summary

The book reports an extended version of the lectures given by distinguished scholars at the workshop "Fault diagnosis and fault tolerance for dynamic systems" held in conjunction with the 2002 IEEE International Symposium on Intelligent Control in Vancouver, Canada, from 27-30 October 2002. The book collects some of the most recent results in fault diagnosis and fault tolerant systems with particular emphasis on mechatronic systems. Each chapter focuses on either theoretical aspects or applications to different fields of interest in mechatronics such as industrial robotics, underwater vehicles, hydraulic systems, and flight control.

Table of Contents

Sliding Mode Observers and Their Application in Fault Diagnosis	1	(58)
Mehrdad Saif
Yi Xiong
Introduction	1	(4)
Sliding Mode Observers for Linear and Nonlinear Systems	5	(13)
A Sliding Mode Observer for Linear Uncertain Systems	18	(4)
Nonlinear SMO Design Extension	22	(4)
A Simple Sliding Mode Output Observer for Fault Diagnosis	26	(4)
Incipient Fault Diagnosis Using SMFO for Linear Uncertain Systems	30	(5)
SMFO Based Incipient Fault Diagnosis for Nonlinear Uncertain Systems	35	(3)
Illustrative Examples	38	(16)
Summary	54	(5)
Fault Diagnosis and Fault Tolerant Control for Non-Gaussian Stochastic Systems with Random Parameters	59	(26)
Hong Wang
Introduction	59	(2)
The Representation for Fixed Parameter Systems	61	(1)
Fault Detection for Fixed Parameter Systems	62	(2)
Fault Diagnosis for Fixed Parameter Systems	64	(3)
Model Representation for Random Parameter Systems	67	(3)
Laplace Transformations for Probability Density Functions	70	(2)
Unexpected Change Diagnosis Using Scanning Parameter Estimation	72	(2)
Fault Diagnosis Design via Minimizing Residual Entropy	74	(1)
Fault Tolerant Control Design	75	(3)
Applicability Study	78	(4)
Discussions and Conclusions	82	(3)
Fault Diagnosis for Industrial Robots	85	(24)
Fabrizio Caccavale
Luigi Villani
Introduction	85	(2)
Modeling	87	(3)
A Simple Model-Based Fault Diagnosis Scheme	90	(1)
Observer-Based Fault Diagnosis	91	(3)
Observer-Based Fault Diagnosis in the Absence of Velocity Measurements	94	(1)
Fault Detection, Isolation, and Identification	95	(2)
Experimental Results	97	(7)
Conclusion	104	(5)
A Survey of Fault Detection/Tolerance Strategies for AUVs and ROVs	109	(20)
Gianluca Antonelli
Introduction	109	(2)
Modeling	111	(3)
Experienced Failures	114	(1)
Fault Detection Schemes	115	(4)
Fault Tolerant Schemes	119	(2)
Experiments	121	(3)
Conclusions	124	(5)
Failure Detection, Identification, and Reconfiguration in Flight Control	129	(40)
Jovan D. Boskovic
Raman K. Mehra
Introduction	129	(5)
The Fault-Accommodation Problem	134	(4)
Sensor FDIR	138	(4)
The Generalized Case	142	(2)
Control Effector FDIR	144	(10)
Structural Damage FDIR	154	(8)
An Integrated FDIR System	162	(3)
Conclusions and Future Work	165	(4)
Nonlinear Fault Detection for Hydraulic Systems	169	(18)
Martin L. Leuschen
Ian D. Walker
Joseph R. Cavallaro
Introduction	169	(1)
Nonlinear Analytical Redundancy	170	(3)
NLAR Applied to a Hydraulic System	173	(6)
NLAR for Rosie Actuator	179	(2)
Results	181	(2)
The Importance of Model Accuracy	183	(3)
Conclusions	186	(1)
Acknowledgements	187	(1)
Appendix: Approximate Approaches to NLAR	187