Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation

In this paper, an actuator fault-tolerant control (FTC) scheme is proposed, which is based on tube-based model predictive control (MPC) and set-theoretic fault detection and isolation (FDI). As a robust MPC technique, tube-based MPC, can effectively deal with system constraints and uncertainties with relatively low computational complexity. Set-based FDI can robustly detect and isolate actuator faults. Here, fault detection (FD) is passive by invariant sets, while fault isolation (FI) is active by tubes. Using the constraint-handling ability of MPC controllers, an active FI approach is implemented. A numerical example illustrates the effectiveness of the proposed approach.Postprint (author’s final draft

Sensor-fault tolerance using robust MPC with set-based state estimation and active fault isolation

In this paper, a sensor fault-tolerant control (FTC) scheme using robust model predictive control (MPC) and set theoretic fault detection and isolation (FDI) is proposed. The MPC controller is used to both robustly control the plant and actively guarantee fault isolation (FI). In this scheme, fault detection (FD) is passive by interval observers, while fault isolation (FI) is active by MPC. The advantage of the proposed approach consists in using MPC to actively decouple the effect of sensor faults on the outputs such that one output component only corresponds to one sensor fault in terms of FI, which can utilize the feature of sensor faults for FI. A numerical example is used to illustrate the effectiveness of the proposed scheme.Postprint (author’s final draft

Structural heterogeneity and permeability in faulted eolian sandstone: Implications for subsurface modeling of faults

We determined the structure and permeability variations of a 4 km-long normal fault by integrating surface mapping with data from five boreholes drilled through the fault (borehole to tens of meters scale). The Big Hole fault outcrops in the Jurassic Navajo Sandstone, central Utah. A total of 363.2 m of oriented drill core was recovered at two sites where fault displacement is 8 and 3-5 m. The main fault core is a narrow zone of intensely comminuted grains that is a maximum of 30 cm thick and is composed of low-porosity amalgamated deformation bands that have slip surfaces on one or both sides. Probe permeameter measurements showed a permeability decline from greater than 2000 to less than 0.1 md as the fault is approached. Whole-core analyses showed that fault core permeability is less than I md and individual deformation band permeability is about 1 md. Using these data, we calculated the bulk permeability of the fault zone. Calculated transverse permeability over length scales of 5-10 m is 30-40 md, approximately 1-4% the value of the host rock. An inverse power mean calculation (representing a fault array with complex geometry) yielded total fault-zone permeabilities of 7-57 md. The bulk fault-zone permeability is most sensitive to variations in fault core thickness, which exhibits the greatest variability of the fault components

Distributed Adaptive Fault-Tolerant Control of Uncertain Multi-Agent Systems

This paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain multi-agent systems. A local FTC scheme is designed for each agent using local measurements and suitable information exchanged between neighboring agents. Each local FTC scheme consists of a fault diagnosis module and a reconfigurable controller module comprised of a baseline controller and two adaptive fault-tolerant controllers activated after fault detection and after fault isolation, respectively. Under certain assumptions, the closed-loop system's stability and leader-follower consensus properties are rigorously established under different modes of the FTC system, including the time-period before possible fault detection, between fault detection and possible isolation, and after fault isolation

Transient fault area location and fault classification for distribution systems based on wavelet transform and Adaptive Neuro-Fuzzy Inference System (ANFIS)

A novel method to locate the zone of transient faults and to classify the fault type in Power Distribution Systems using wavelet transforms and Adaptive Neuro-Fuzzy Inference Systems (ANFIS) has been developed. It draws on advanced techniques of signal processing based on wavelet transforms, using data sampled from the main feeder current to extract important characteristics and dynamic features of the fault signal. In this method, algorithms designed for fault detection and classification based on features extracted from wavelet transforms were implemented. One of four different algorithms based on ANFIS, according to the type of fault, was then used to locate the fault zone. Studies and simulations in an EMTP-RV environment for the 25kV power distribution system of Canada were carried out by considering ten types of faults with different fault inception, fault resistance and fault locations. The simulation results showed high accuracy in classifying the type of fault and determining the fault area, so that the maximum observed error was less than 2%

The ALI Principles: A Farewell to Fault—But What Remedy for the Egregious Marital Misconduct of an Abusive Spouse?

The fundamental premise of this commentary is that the ALl has erred in not including appropriate nonfinancial fault-based factors in the Principles for three major reasons: 1) other no-fault laws, including no-fault automobile insurance law, no-fault workers compensation law, and strict liability in tort law, have all incorporated a number of fault-based exceptions to their general no-fault framework for serious or egregious conduct, and American divorce law should likewise have a similar fault-based exception for serious or egregious marital misconduct; 2) a substantial number of states continue to recognize and utilize a number of fault-based statutory factors in divorce for serious and egregious marital misconduct, and these state courts generally have applied such fault-based remedies in a realistic and responsible manner; and 3) alternative tort or criminal law remedies for serious and egregious marital misconduct have proven to be inadequate legal remedies in theory and practice. Accordingly, this commentary will conclude that fault-based factors for egregious marital misconduct should be retained, or should be seriously reconsidered, by any state legislature that is considering legislative adoption of the ALI Principles

Fault-tolerant observer design with a tolerance measure for systems with sensor failure

A fault-tolerant switching observer design methodology is proposed. The aim is to maintain a desired level of closed-loop performance under a range of sensor fault scenarios while the fault-free nominal performance is optimized. The range of considered fault scenarios is determined by a minimum number p of assumed working sensors. Thus the smaller p is, the more fault tolerant is the observer. This is then used to define a fault tolerance measure for observer design. Due to the combinatorial nature of the problem, a semidefinite relaxation procedure is proposed to deal with the large number of fault scenarios for systems that have many vulnerable sensors. The procedure results in a significant reduction in the number of constraints needed to solve the problem. Two numerical examples are presented to illustrate the effectiveness of the fault-tolerant observer design