Paper Info
Title
Actuator Fault Detection and Isolation for a Network of Unmanned Vehicles
Abstract
This technical note investigates development, design and analysis of actuator fault detection and isolation (FDI) filters for a network of unmanned vehicles. It is shown that actuator fault signatures in a network of unmanned vehicles are dependent and the network can be considered as an over-actuated system. An isolability index mu is defined for a family of fault signatures and a new structured residual set is developed that is selectively capable of properly detecting and isolating mu multiple faults in linear systems with dependent fault signatures, such as over-actuated systems. Our proposed algorithm is then applied to the actuator FDI problem in a network of unmanned vehicles configured according to centralized, decentralized and semi-decentralized architectures. A comparative analysis in terms of the capabilities and limitations of these architectures is performed. Simulation results presented for the formation flight of multiple satellites demonstrate the effectiveness of our proposed FDI algorithm.
Year
DOI
Venue
2009
10.1109/TAC.2008.2009675
Automatic Control, IEEE Transactions
Keywords
Field
DocType
centralised control,fault diagnosis,linear systems,mobile robots,remotely operated vehicles,actuator fault detection and isolation filters,fault signatures,linear systems,over-actuated system,semidecentralized architectures,unmanned vehicles network,Dependent fault signatures,fault detection and isolation (FDI),geometric FDI approach,network of unmanned vehicles
Remotely operated underwater vehicle,Algorithm design,Decentralised system,Fault detection and isolation,Control theory,Control engineering,Local area network,Autonomous system (mathematics),Mathematics,Mobile robot,Actuator
Journal
Volume
Issue
ISSN
54
4
0018-9286
Citations 
PageRank 
References 
59
2.50
5
Authors
2
Name
Order
Citations
PageRank
Nader Meskin1979.31
Khashayar Khorasani2592.50