Observer-Based Fault Estimation and Accomodation for Dynamic Systems

187 Pages·2013·2.478 MB·English

by  Ke Zhang, Bin Jiang, Peng Shi (auth.)

Lecture Notes
in Control and Information Sciences 436
Editors
ProfessorDr.-Ing.ManfredThoma
InstitutfuerRegelungstechnik,UniversitätHannover,Appelstr.11,30167Hannover,
Germany
E-mail:[email protected]
ProfessorDr.FrankAllgöwer
InstituteforSystemsTheoryandAutomaticControl,UniversityofStuttgart,
Pfaffenwaldring9,70550Stuttgart,Germany
E-mail:[email protected]
ProfessorDr.ManfredMorari
ETH/ETLI29,Physikstr.3,8092Zürich,Switzerland
E-mail:[email protected]
SeriesAdvisoryBoard
P.Fleming
UniversityofSheffield,UK
P.Kokotovic
UniversityofCalifornia,SantaBarbara,CA,USA
A.B.Kurzhanski
MoscowStateUniversity,Russia
H.Kwakernaak
UniversityofTwente,Enschede,TheNetherlands
A.Rantzer
LundInstituteofTechnology,Sweden
J.N.Tsitsiklis
MIT,Cambridge,MA,USA
Forfurthervolumes:
http://www.springer.com/series/642
Ke Zhang, Bin Jiang, and Peng Shi
Observer-Based
Fault Estimation
and Accomodation
for Dynamic Systems
ABC
Authors
Dr.KeZhang Prof.PengShi
CollegeofAutomationEngineering SchoolofElectricalandElectronic
NanjingUniversityofAeronautics Engineering
andAstronautics TheUniversityofAdelaide
Nanjing AdelaideSA5005
China Australia
Prof.BinJiang
CollegeofAutomationEngineering
NanjingUniversityofAeronautics
andAstronautics
Nanjing
China
ISSN0170-8643 e-ISSN1610-7411
ISBN978-3-642-33985-1 e-ISBN978-3-642-33986-8
DOI10.1007/978-3-642-33986-8
SpringerHeidelbergNewYorkDordrechtLondon
LibraryofCongressControlNumber:2012949568
(cid:2)c Springer-VerlagBerlinHeidelberg2013
Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof
thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,
broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation
storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology
nowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnection
with reviews or scholarly analysis or material supplied specifically for the purpose of being entered
and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of
this publication or parts thereof is permitted only under the provisions of the Copyright Law of the
Publisher’slocation,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.
PermissionsforusemaybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.Violations
areliabletoprosecutionundertherespectiveCopyrightLaw.
Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication
doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant
protectivelawsandregulationsandthereforefreeforgeneraluse.
Whiletheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpub-
lication,neithertheauthorsnortheeditorsnorthepublishercanacceptanylegalresponsibilityforany
errorsoromissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,withrespect
tothematerialcontainedherein.
Printedonacid-freepaper
SpringerispartofSpringerScience+BusinessMedia(www.springer.com)
Preface
Due to the increasing security and reliability demand of actual industrial process
controlsystems, thestudyonfaultdiagnosisandfaulttolerantcontrolofdynamic
systems has received considerable attention. Fault accommodation (FA) is one of
effectivemethodsthatcanbeusedtoenhancesystemstabilityandreliability,soit
hasbeenwidelyandin-depthinvestigatedandbecomea hottopicin recentyears.
Faultdetectionisusedto monitorwhethera faultoccurs,whichisthefirststep in
FA. On the basis of fault detection, fault estimation (FE) is utilized to determine
onlinethemagnitudeofthefault,whichisaveryimportantstepbecausetheaddi-
tionalcontrollerisdesignedusingthefaultestimate.Comparedwithfaultdetection,
thedesigndifficultiesofFEwouldincreasealot,soresearchonFEandaccommo-
dationisverychallenging.AlthoughtherehavebeenadvancementsreportedonFE
andaccommodationfordynamicsystems,thecommonmethodsatthepresentstage
have design difficulties, which limit applications of respective design approaches.
Therefore,the problemsof FE and accommodationare neededto be further stud-
ied.ThisbookconsidersthetheoryandtechnologyofFE andaccommodationfor
dynamicsystems,andestablishesasystemicandcomprehensiveframeworkofFE
andaccommodationforcontinuous/discrete-timesystems.
In Chapter 1, a motivation on the research and its history and an overview on
recentdevelopmentofFEandaccommodationarepresented.
In Chapter 2, as the FE performancesgenerallycannotbe achievedby conven-
tional adaptive fault estimation (CAFE) algorithms, so a novel fast adaptive fault
estimation(FAFE)algorithmisproposed,whichevidentlyenhancestheFEperfor-
mances, including rapidity and accuracy. Then, the proof process is improved to
eliminatethestrictequationconstraintbyusinginequalitytransformandsufficient
conditionsfortheexistenceoftheadaptiveobserverarederivedintermsoflinear
matrix inequalities (LMIs). Further, the proposed FAFE results are extended to a
classofLipschitznonlinearsystems.
In Chapter 3, the proposedFAFE algorithmis extendedto time-delay systems.
Basedontheslack-matrixdesigntechnique,FEoffasttime-varyingdelaysystems
is studied to dealwith the difficulty that the CAFE algorithmcan only be used in
VI Preface
slow time-varyingdelaysystems, and FE of neutraldelaysystems is addressedto
treatthedifficultyoftheCAFEalgorithmcannotbeusedinsuchsystems.
InChapter4,foraclassofspecificfaults,i.e.,lossofactuatoreffectiveness,afast
FEalgorithmforsuchkindoffaultsisproposed.Meanwhile,basedontheon-line
obtainedfaultestimate,aFAschemeispresented.Notethat,theFEobserverandFA
aredesignedseparatelysuchthatthedesignprocesscanbegreatlysimplified.When
lossof actuatoreffectivenessoccurs,theFA schemecan guaranteetheasymptotic
stabilityofthewholesystem.
InChapter5,foradaptiveobserverdesign,theerrordynamicsis neededtosat-
isfy the strictly positive real (SPR) condition, a novel full-order fault estimation
observer(FFEO)designisproposed,andadynamicoutputfeedback(DOF)-based
FAisprovided.TheFFEOpossesseswiderapplicationscopescomparedwithadap-
tiveobserver.Then,aDOF-basedFAdesignisproposedtoavoiddesigndifficulties
causedby observer-basedstate feedbackfaulttolerantcontrol.Meanwhile,the re-
sults on continuous-time systems are extended to discrete-time systems, and the
correspondingresultsarealsoobtained.
InChapter6,onthebasisofFFEOdesign,areduced-orderfaultestimationob-
server(RFEO)approachisfurtherstudied,andastaticoutputfeedback(SOF)-based
FAisprovided.TheRFEOpossessesthewiderapplicationscopeoftheFFEO,and
theon-linefaultestimatorgeneratedbytheRFEOcontainsthecurrentoutputinfor-
mationtoenhancethe FE performances.Then,basedonthe slack-matrixmethod,
a static output feedback (SOF)-based FA is proposed. Furthermore, the obtained
researchresultsofcontinuous-timesystemsareextendedtodiscrete-timesystems,
andtheresultsofFEandaccommodationarealsoestablished.
InChapter7,astheproblemsofFEandaccommodationforTakagi-Sugeno(T-
S) fuzzymodelsbasednonlinearsystems havenotbeenfully investigatedyet,the
FE andaccommodationapproachesproposedinpreviouschaptersare extendedto
T-S fuzzy models based nonlinear systems, the design of FE and accommodation
for T-S fuzzy models is provided.Our studies cover continuousand discrete-time
systems,andenrichthecontentofthisfield.
In Chapter 8, in order to verify the practical value of the proposed theoretical
methods, some proposed design techniques are employed to the three degrees of
freedomhelicopterflight controlplatform.The given FE design can real-time on-
line estimate actuator faults, and based on the online fault estimate, the designed
FA restores the system performances.Experimentalresults show that our work to
improve the flight control system reliability and security have great potentials in
practice.
Conclusionsare presentedin Chapter 9 and the perspectivesof FE andaccom-
modationaresummarized.
Nanjing,China, KeZhang
August2012 BinJiang
PengShi
Acknowledgements
Thisworkisdedicatedtoourparentsand
Jingping——————Dr.KeZhang
WenandXinhao—————-Prof.BinJiang
Mei,LisaandMichael—————–Prof.PengShi
TheauthorswouldliketoexpressespecialthankstoProf.MarcelStaroswiecki,
of laboratory SATIE from Ecole Normale Supe´rieur de Cachan, France and Prof.
VincentCocquempot,ofUniversityofSciencesandTechnologiesofLille, France
fortheirvaluablecommentsandencouragementontheresearchwork.
Meanwhile,theauthorswouldliketoacknowledgethesupportofresearchgrants,
including National Natural Science Foundation of China (61034005, 61010121,
61074080,61174058,61134001),theNationalKeyBasicResearchProgram,China
(2012CB215202), the 111 Project (B12018), Doctoral Fund of Ministry of Ed-
ucation of China (20113218110011), Key Project of Natural Science Founda-
tionofJiangsuProvince(BK2010072),theEngineeringandPhysicalSciencesRe-
search Council of UK (EP/F029195), Jiangsu Postdoctoral Science Foundation
(1201013B),andNUAAResearchFoundationofRecruitedTalents.
Contents
1 Introduction................................................... 1
1.1 Background ............................................... 1
1.2 SummariesofFDandFTC .................................. 2
1.2.1 FD ................................................ 2
1.2.2 FTC ............................................... 3
1.3 FEandFAProblems........................................ 4
1.3.1 FE................................................. 5
1.3.2 FA ................................................ 7
1.4 BookOutline .............................................. 8
2 FAFEofContinuous-TimeSystems .............................. 11
2.1 Introduction ............................................... 11
2.2 FAFEofLinearSystems..................................... 12
2.2.1 ProblemStatement................................... 12
2.2.2 FAFEDesign ....................................... 14
2.2.3 ImprovedFAFEDesign............................... 17
2.2.4 SimulationResults ................................... 20
2.3 FAFEofLipschitzNonlinearSystems ......................... 23
2.3.1 ProblemStatement................................... 23
2.3.2 FAFEDesign ....................................... 25
2.3.3 SimulationResults ................................... 26
2.4 ConcludingRemarks........................................ 29
3 FAFEofContinuous-TimeLinearSystemswithTimeDelay ........ 31
3.1 Introduction ............................................... 31
3.2 FAFEDesignofRetardedTime-DelaySystems ................. 32
3.2.1 ProblemStatement................................... 32
3.2.2 FAFEDesign ....................................... 34
3.2.3 SimulationResults ................................... 37
3.3 FAFEDesignofNeutralTime-DelaySystems .................. 41
3.3.1 ProblemStatement................................... 41
X Contents
3.3.2 FAFEDesign ....................................... 42
3.3.3 SimulationResults ................................... 48
3.4 ConcludingRemarks........................................ 50
4 FastFAforLossofActuatorEffectiveness ........................ 51
4.1 Introduction ............................................... 51
4.2 ProblemStatement ......................................... 51
4.3 FAFEDesign .............................................. 53
4.4 FADesign ................................................ 55
4.5 SimulationResults ......................................... 58
4.6 ConcludingRemarks........................................ 60
5 FFEOBasedFAforLinearSystems.............................. 61
5.1 Introduction ............................................... 61
5.2 FFEOBasedFAforContinuous-TimeSystems.................. 62
5.2.1 ProblemStatement................................... 62
5.2.2 MulticonstrainedFFEODesign ........................ 65
5.2.3 DOFBasedFADesign ............................... 69
5.2.4 SimulationResults ................................... 73
5.3 FFEOBasedFAforDiscrete-TimeSystems .................... 79
5.3.1 ProblemStatement................................... 79
5.3.2 MulticonstrainedFFEODesign ........................ 80
5.3.3 DOFBasedFADesign ............................... 83
5.3.4 SimulationResults ................................... 87
5.4 ConcludingRemarks........................................ 92
6 RFEOBasedFAforLinearSystems.............................. 95
6.1 Introduction ............................................... 95
6.2 RFEOBasedFAforContinuous-TimeSystems ................. 96
6.2.1 ProblemStatement................................... 96
6.2.2 MulticonstrainedRFEODesign ........................ 98
6.2.3 SOFBasedFADesign................................101
6.2.4 SimulationResults ...................................104
6.3 RFEOBasedFAforDiscrete-TimeSystems ....................107
6.3.1 ProblemStatement...................................107
6.3.2 MulticonstrainedRFEODesign ........................111
6.3.3 SOFBasedFADesign................................113
6.3.4 SimulationResults ...................................115
6.4 ConcludingRemarks........................................120
7 FAforT-SFuzzyModelsBasedNonlinearSystems ................121
7.1 Introduction ...............................................121
7.2 FADesignforContinuous-TimeNonlinearSystems .............122
7.2.1 ProblemStatement...................................122
7.2.2 MulticonstrainedFFEODesign ........................124
Contents XI
7.2.3 FADesign ..........................................126
7.2.4 SimulationResults ...................................131
7.3 FADesignforDiscrete-TimeNonlinearSystems ................135
7.3.1 ProblemStatement...................................135
7.3.2 MulticonstrainedRFEODesign ........................139
7.3.3 FADesign ..........................................145
7.3.4 SimulationResults ...................................150
7.4 ConcludingRemarks........................................155
8 HelicopterPlatformApplications ................................157
8.1 Introduction ...............................................157
8.2 HelicopterPlatform.........................................157
8.3 HelicopterPlatformExperiment ..............................160
8.3.1 HelicopterModeling .................................160
8.3.2 FEandAccommodationDesign........................161
8.4 Conclusions ...............................................166
9 ConclusionsandFutureResearchDirections ......................167
9.1 Conclusions ...............................................167
9.2 FutureResearchDirections ..................................168
References.........................................................171
Index .............................................................181
Acronyms
CAFE conventionaladaptivefaultestimation
DOF dynamicoutputfeedback
FA faultaccommodation
FAFE fastadaptivefaultestimation
FD faultdiagnosis
FE faultestimation
FFEO full-orderfaultestimationobserver
FTC faulttolerantcontrol
LMIs linearmatrixinequalities
PID proportionalintegralderivative
RFEO reduced-orderfaultestimationobserver
SOF staticoutputfeedback
SPR strictlypositivereal
T-S Takagi-Sugeno