Model based fault diagnosis and prognosis of class of linear and nonlinear distributed parameter systems modeled by partial differential equations

With the rapid development of modern control systems, a significant number of industrial systems may suffer from component failures. An accurate yet faster fault prognosis and resilience can improve system availability and reduce unscheduled downtime. Therefore, in this dissertation, model-based prognosis and resilience control schemes have been developed for online prediction and accommodation of faults for distributed parameter systems (DPS). First, a novel fault detection, estimation and prediction framework is introduced utilizing a novel observer for a class of linear DPS with bounded disturbance by modeling the DPS as a set of partial differential equations. To relax the state measurability in DPS, filters are introduced to redesign the detection observer. Upon detecting a fault, an adaptive term is activated to estimate the multiplicative fault and a tuning law is derived to tune the fault parameter magnitude. Then based on this estimated fault parameter together with its failure limit, time-to-failure (TTF) is derived for prognosis. A novel fault accommodation scheme is developed to handle actuator and sensor faults with boundary measurements. Next, a fault isolation scheme is presented to differentiate actuator, sensor and state faults with a limited number of measurements for a class of linear and nonlinear DPS. Subsequently, actuator and sensor fault detection and prediction for a class of nonlinear DPS are considered with bounded disturbance by using a Luenberger observer. Finally, a novel resilient control scheme is proposed for nonlinear DPS once an actuator fault is detected by using an additional boundary measurement. In all the above methods, Lyapunov analysis is utilized to show the boundedness of the closed-loop signals during fault detection, prediction and resilience under mild assumptions --Abstract, page iv

COOPERATIVE AND CONSENSUS-BASED CONTROL FOR A TEAM OF MULTI-AGENT SYSTEMS

Cooperative control has attracted a noticeable interest in control systems community due to its numerous applications in areas such as formation flying of unmanned aerial vehicles, cooperative attitude control of spacecraft, rendezvous of mobile robots, unmanned underwater vehicles, traffic control, data network congestion control and routing. Generally, in any cooperative control of multi-agent systems one can find a set of locally sensed information, a communication network with limited bandwidth, a decision making algorithm, and a distributed computational capability. The ultimate goal of cooperative systems is to achieve consensus or synchronization throughout the team members while meeting all communication and computational constraints. The consensus problem involves convergence of outputs or states of all agents to a common value and it is more challenging when the agents are subjected to disturbances, measurement noise, model uncertainties or they are faulty. This dissertation deals with the above mentioned challenges and has developed methods to design distributed cooperative control and fault recovery strategies in multi-agent systems. Towards this end, we first proposed a transformation for Linear Time Invariant (LTI) multi-agent systems that facilitates a systematic control design procedure and make it possible to use powerful Lyapunov stability analysis tool to guarantee its consensus achievement. Moreover, Lyapunov stability analysis techniques for switched systems are investigated and a novel method is introduced which is well suited for designing consensus algorithms for switching topology multi-agent systems. This method also makes it possible to deal with disturbances with limited root mean square (RMS) intensities. In order to decrease controller design complexity, a iii method is presented which uses algebraic connectivity of the communication network to decouple augmented dynamics of the team into lower dimensional parts, which allows one to design the consensus algorithm based on the solution to an algebraic Riccati equation with the same order as that of agent. Although our proposed decoupling method is a powerful approach to reduce the complexity of the controller design, it is possible to apply classical pole placement methods to the transformed dynamics of the team to develop and obtain controller gains. The effects of actuator faults in consensus achievement of multi-agent systems is investigated. We proposed a framework to quantitatively study actuator loss-of-effectiveness effects in multi-agent systems. A fault index is defined based on information on fault severities of agents and communication network topology, and sufficient conditions for consensus achievement of the team are derived. It is shown that the stability of the cooperative controller is linked to the fault index. An optimization problem is formulated to minimize the team fault index that leads to improvements in the performance of the team. A numerical optimization algorithm is used to obtain the solutions to the optimal problem and based on the solutions a fault recovery strategy is proposed for both actuator saturation and loss-of-effectiveness fault types. Finally, to make our proposed methodology more suitable for real life scenarios, the consensus achievement of a multi-agent team in presence of measurement noise and model uncertainties is investigated. Towards this end, first a team of LTI agents with measurement noise is considered and an observer based consensus algorithm is proposed and shown that the team can achieve H∞ output consensus in presence of both bounded RMS disturbance input and measurement noise. In the next step a multi-agent team with both linear and Lipschitz nonlinearity uncertainties is studied and a cooperative control algorithm is developed. An observer based approach is also developed to tackle consensus achievement problem in presence of both measurement noise and model uncertainties