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2011 | Buch

Introduction to Reconfigurable Control Kapitel lesen Erstes Kapitel lesen

Reconfigurable Control of Nonlinear Dynamical Systems

A Fault-Hiding Approach

verfasst von: Jan H. Richter

Verlag: Springer Berlin Heidelberg

Buchreihe : Lecture Notes in Control and Information Sciences

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

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Über dieses Buch

<body>This research monograph summarizes solutions to reconfigurable fault-tolerant control problems for nonlinear dynamical systems that are based on the fault-hiding principle. It emphasizes but is not limited to complete actuator and sensor failures. In the first part, the monograph starts with a broad introduction of the control reconfiguration problems and objectives as well as summaries and explanations of solutions for linear dynamical systems. The solution is always a reconfiguration block, which consists of linear virtual actuators in the case of actuator faults and linear virtual sensors in the case of sensor faults. The main advantage of the fault-hiding concept is the reusability of the nominal controller, which remains in the loop as an active system while the virtual actuator and sensor adapt the control input and the measured output to the fault scenario. The second and third parts extend virtual actuators and virtual sensors towards the classes of Hammerstein-Wiener systems and piecewise affine systems. The main analyses concern stability recovery, setpoint tracking recovery, and performance recovery as reconfiguration objectives. The fourth part concludes the monograph with descriptions of practical implementations and case studies. The book is primarily intended for active researchers and practicing engineers in the field of fault-tolerant control. Due to many running examples it is also suitable for interested graduate students.</body>

Inhaltsverzeichnis

Frontmatter

Control Reconfiguration Problem

Frontmatter
Introduction to Reconfigurable Control
Abstract
Fault-tolerant control (FTC) aims at making technological systems tolerant to faults. This means that the system should fulfill its function also after the appearance of degradation or failure in its components, such as actuators or sensors. Specifically, the field is concerned with systems whose function depends on functioning feedback control loops. Feedback controllers process measurement information into control actions, producing the desired effect in the plant only if the involved actuators and sensors function properly. Actuators and sensors are, however, subject to inevitable faults, and fault-tolerant controllers should nevertheless maintain the system’s main functionality. This monograph focusses on actuator and sensor faults.
Jan H. Richter
Preliminaries
Abstract
This chapter defines the notation for this monograph and recalls central notions from the literature that constitute the theoretical foundation of this monograph. These notions are linear matrix inequalities, polyhedra and polytopes, and classical as well as recent results from stability theory. The discussion of stability theory concerns stability in the sense of Lyapunov, extensions for systems with inputs, the convergence property, and absolute stability.
Jan H. Richter
Reconfigurable Control Problem and Fault-Hiding Approach
Abstract
This chapter defines the reconfiguration problem, which consists in the recovery of the nominal stability, setpoint tracking, and performance properties by the reconfigured closed-loop system. First, reconfiguration problems are formulated based on model-matching ideas. Second, the fault-hiding concept is introduced and the reconfiguration problems are formulated in this context. The fault-hiding concept is the basis for all reconfigurable control solutions presented in later chapters. The general properties of the fault-hiding approach are explained in more detail.
Jan H. Richter
Linear Reconfiguration Solutions Based on the Fault-Hiding Approach
Abstract
This chapter presents linear solutions to the reconfiguration problems defined in Chapter 3 based on the fault-hiding principle. First, nominal linear systems are defined, some of their basic properties are reviewed, and the nominal closed-loop system is defined. It is shown how faults are modelled in linear systems. The linear virtual sensor and the linear virtual actuator are defined, and it is described how they must be designed such that the previously defined reconfiguration goals are satisfied. The solution procedures for obtaining the suitable parameters in the reconfiguration blocks are sketched.
Jan H. Richter

Reconfigurable Control of Hammerstein-Wiener Systems

Frontmatter
Control Reconfiguration Problem for Hammerstein-Wiener Systems
Abstract
This chapter defines Hammerstein-Wiener systems and the nominal closed-loop system. It is shown how faults are modelled in Hammerstein-Wiener systems, and the reconfiguration problem is stated for the class of Hammerstein-Wiener systems. Bibliographic notes on these systems conclude the chapter.
Jan H. Richter
Stability Recovery after Actuator and Sensor Faults in Hammerstein-Wiener Systems
Abstract
This chapter provides the solution to the stability recovery problem after combined actuator and sensor faults in Hammerstein-Wiener systems. The structure of the reconfiguration block is defined, and sufficient conditions are stated that guarantee the input-to-state stability of the reconfigured closed-loop system. These conditions are also used for the synthesis of the free reconfiguration block parameters. The special cases of pure actuator or sensor faults that give rise to simplified reconfiguration blocks are separately discussed. These solutions are shown to be robust against uncertain models of the faulty system, and they are shown to be universal solutions to the stated reconfiguration problems.
Jan H. Richter
Setpoint Tracking Recovery after Actuator Faults in Saturated Systems
Abstract
This chapter gives the solution to the tracking recovery problem after actuator faults in saturated systems. The solution extends the stabilising reconfiguration solution to achieve tracking of constant setpoints. Feasible setpoints that can be reached by the faulty plant are characterised, and it is shown that a suitably designed saturated virtual actuator ensures that they be reached. It is furthermore shown how infeasible setpoints are mapped to feasible ones.
Jan H. Richter
Performance Recovery after Actuator Faults in Saturated Systems
Abstract
This chapter gives the solution to the optimal performance recovery problem after actuator faults in saturated systems. The solution extends the stabilising reconfiguration solution to achieve a compromise between output trajectory recovery and control input amplification.
Jan H. Richter

Reconfigurable Control of Piecewise Affine Systems

Frontmatter
Control Reconfiguration Problem for Piecewise Affine Systems
Abstract
This chapter defines nominal piecewise affine systems and the nominal closed-loop system for the class of PWA systems, as well as the assumptions made about the nominal closed-loop system. It is shown how faults are modelled in piecewise affine systems, and the corresponding reconfiguration problems are formulated. The chapter closed with bibliographic notes.
Jan H. Richter
Stability Recovery after Actuator and Sensor Faults in Piecewise Affine Systems
Abstract
This chapter presents a reconfigurable control solution for piecewise affine systems subject to combined actuator and sensor faults based on the fault-hiding idea. The approach recovers the input-to-state stability property for the reconfigured closed-loop system, and it is shown to be robust against uncertainties in the piecewise affine model of the faulty plant.
Jan H. Richter
Setpoint Tracking Recovery after Actuator and Sensor Faults in Piecewise Affine Systems
Abstract
This chapter extends the stability recovery approach to the reconfigurable control of piecewise affine systems towards the tracking recovery for constant reference inputs in the presence of constant disturbances. The extensions are based on internal models of the reference and disturbance signals and on the convergence property. The reconfiguration scheme is shown to be robust against uncertainties in the piecewise affine model of the faulty plant, against time-varying disturbances, and against uncertainties in the fault diagnosis result.
Jan H. Richter

Applications

Frontmatter
Application Framework
Abstract
This chapter explains how the fault-hiding approach to reconfigurable control is implemented in a real-time control framework. The required information flow between plant, controller, and reconfiguration block is described, and it is shown how reconfiguration blocks can be embedded into modern control hardware. A MATLAB toolbox providing prototype implementations of reconfiguration blocks is described. Finally, possible applications for virtual actuators and virtual sensors outside the field of fault-tolerant control are sketched.
Jan H. Richter
Fault-Tolerant Control of a Thermofluid Process
Abstract
This chapter shows simulated and experimental applications of the reconfigurable control methods presented in this monograph to a thermofluid process that has been realised on the test bed plant VERA. Closed-loop trajectories of the reconfigured process are discussed for various fault scenarios. They demonstrate that the approach is indeed suitable for solving reconfigurable control problems in practice.
Jan H. Richter
Conclusion
Abstract
This chapter summarises the contributions of this monograph to reconfigurable control theory and describes open problems for future research.
Jan H. Richter
Backmatter
Metadaten
Titel
Reconfigurable Control of Nonlinear Dynamical Systems
verfasst von
Jan H. Richter
Copyright-Jahr
2011
Verlag
Springer Berlin Heidelberg
Electronic ISBN
978-3-642-17628-9
Print ISBN
978-3-642-17627-2
DOI
https://doi.org/10.1007/978-3-642-17628-9

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