Fault Tolerant Control Schemes for Wireless Networked Control Systems with an Integrated Scheduler

In recent years, the wireless networked control systems (W-NCSs) has gained increasing popularity in industrial processes. To guarantee the system control performance, fault tolerant control (FTC) strategies have been proposed especially to deal with the malfunction in sensors, actuators or other system components. For the real-time requirement in industrial systems, the FTC performances of W-NCSs not only depend on the developed control algorithms but also on the network protocols at the medium access control (MAC) layer. These protocols, in form of schedulers, determine the transmission orders of messages and play significant roles in the control performances of W-NCSs. Under these circumstances, it is challenging but promising to investigate FTC schemes for W-NCSs with an integrated scheduler. This thesis is devoted to the development of FTC strategies for W-NCSs with an integrated scheduler. In the first part of this thesis, the procedures of integrating a scheduler into W-NCSs are introduced. Due to the requirement for deterministic transmission behaviors via the wireless network, the time division multiple access (TDMA) mechanism is adopted in W-NCSs. The TDMA-based scheduler is taken as a dynamic system and formulated into a periodic system. After that, with the integration of the scheduler, the W-NCSs are modeled as discrete linear time periodic (LTP) systems. The second part of this thesis focuses on the developments of FTC schemes for the integrated LTP systems. Two types of faults, i.e., additive faults (AFs) and multiplicative faults (MFs), are considered in our work. Specifically, a group of fault tolerant controllers are constructed for the AFs case, and seek to ensure that the outputs of LTP systems satisfy a set of H_infty performance indices. On the other hand, a lifting technology and an adaptive observer are applied to handle the situation of MFs. Due to the distribution of W-NCSs and the limitation of communication bandwidth, theorems are presented to solve the structure-restriction problem in the gains of observers and controllers. Finally, the derived FTC approaches are verified on an advanced experimental WiNC (wireless networked control) platform. Following the structure-restricted gains, the FTC strategies are realized with shared and unshared information (i.e., residual signals and state estimates), respectively. The results indicate that the system with shared information has achieved better FTC performances. In den letzten Jahren, haben die drahtlos vernetzten Steuerungssystemen (W-NCSs) sich zunehmender Beliebtheit in industriellen Prozessen gewonnen. Um die Systemsteuerleistung zu gewährleisten, sind die fehlertoleranten Regelung (FTC) Strategien vorgeschlagen worden, um vor allem mit der Fehlfunktion in Sensoren, Aktoren oder andere Systemkomponenten umzugehen. Für die Echtzeitanforderung in industriellen Systemen, hängen die FTC-Leistungen der W-NCSs nicht nur von den entwickelten Regleralgorithmen sondern auch von den Netzwerkprotokollen auf dem Medium Access Control (MAC)-Layer ab. Diese Protokolle, in Form von Schedulers, bestimmen die Reihenfolge der Übertragung der Nachrichten und spielen eine bedeutende Rolle in den Steuerleistungen von W-NCSs. Unter diesen Umständen ist es herausfordernd aber vielversprechend um FTC Regelungen für W-NCSs mit einem integrierten Scheduler zu untersuchen. Diese Arbeit widmet sich auf die Entwicklung von FTC Strategien für W-NCSs mit einem integrierten Scheduler. Im ersten Teil der Arbeit werden die Verfahren der Integration einen Scheduler in W-NCSs eingeführt. Aufgrund der Anforderung deterministisches Übertragungsverhalten über das drahtlose Netzwerk zu gewährleisten, wird der Time-Division-Multiple-Access (TDMA) Mechanismus gewählt. Der TDMA-basierte Scheduler ist als ein dynamisches System betrachtet und als ein Periodisches system formuliert. Danach, mit der Integration des Schedulers, werden die W-NCSs als diskrete Linear Time Periodic (LTP)-Systeme modelliert. Der zweite Teil der Arbeit konzentriert sich auf die Entwicklung der FTC Regelungen für die integrierten LTP-Systeme. Zwei Arten von Fehlern, d.h., additive Fehlern (AFs) und multiplikativen Fehlern (MFs), sind in unserer Arbeit berücksichtigt. Für LTP-Systeme mit AFs wird ein Satz von fehlertoleranten Reglern entworfen, dass die Ausganggröße eine Reihe von H_infty-Leistungsindizes erfüllen werden. Auf der anderen Seite, werden ein Hebetechnik und eine adaptive Beobachter angewendet, um den Fall von MFs zu behandeln. Aufgrund der Verbreitung der W-NCSs und gleichzeitiger Begrenzung der Kommunikationsbandbreite werden Theoreme vorgestellt, um das Problem der Strukturbeschränkung in den Beobachter- bzw. Reglermatrizen zu lösen. Abschließend werden die hergeleiteten FTC-Ansätze auf einem fortgeschrittenen WiNC (drahtlos vernetzten Regelung) Plattform überprüft. Nach den Beobachter- bzw. Reglermatrizen sind die FTC-strategien mit vollständig geteilter oder nicht geteilter Informationen (d.h., Residuum Signale und Schätzungen der Zustandsgrößen) realisiert worden. Die Ergebnisse zeigen, dass das System mit vollständig geteilten Informationen bessere FTC-Leistungen erzielt hat

Fault detection and isolation for linear dynamic systems

As modern control systems and engineering processes become increasingly more complex and integrated, the consequences of system failures and faults can be disastrous environmentally and economically. This thesis considers the fault detection and isolation (FDI) problem for linear time-invariant (LTI) systems subject to faults, disturbances and model uncertainties. Firstly, a novel on-line approach to the robust FDI problem for linear discrete-time systems is proposed by using input/output measurement analysis over a finite estimation horizon. Upper and lower bounds on the fault signal are computed at each sampling instant so that a fault is detected and isolated when its upper bound is smaller than zero or its lower bound is larger than zero. Moreover, a subsequent-state-estimation technique, together with an estimation horizon update procedure are given to allow the on-line FDI process to be repeated in a moving horizon scheme. Secondly, an optimal solution to theH−/H∞ fault detection (FD) problem is given for linear time-invariant systems subject to faults, disturbances and model uncertainties by using an observer-based approach. A new performance index is developed to capture both fault detection and disturbance rejection requirements which is particularly suitable for handling model uncertainties. A class of optimal solutions to the problem is then given in the form of simple linear matrix inequalities (LMI) with two degrees of freedom. By appropriately choosing these degrees of freedom, fault isolation can also be achieved. Thirdly, in order to improve the FD performance and remove restrictive rank assumptions, routinely made in the literature, observer-based FD problems are investigated at a single frequency and over a finite frequency range, respectively. An optimal solution is derived such that, at a given frequency, the static observer generates a residual signal which minimizes the sensitivity of the residual to disturbances while maintaining a minimum level of sensitivity to faults. Then, an initial investigation is carried out for the FD problem over a finite frequency range. A solution is derived in the form of an LMI optimization by using the generalized KYP lemma followed by a linearization procedure. Conditions under which this solution is optimal are also derived. Fully worked out numerical examples, mostly from the literature, are given to illustrate the effectiveness of all the proposed schemes

Sampled-data Networked Control Systems: A Lyapunov-Krasovskii Approach

The main goal of this thesis is to develop computationally efficient methods for stability analysis and controller synthesis of sampled-data networked control systems. In sampled-data networked control systems, the sensory information and feedback signals are exchanged among different components of the system (sensors, actuators, and controllers) through a communication network. Stabilization of sampled-data networked control systems is a challenging problem since the introduction of multirate sample and holds, time-delays, and packet losses into the system degrades its performance and can lead to instability. A diverse range of systems with linear, piecewise affine (PWA), and nonlinear vector fields are studied in this thesis. PWA systems are a class of state-based switched systems with affine vector field in each mode. Stabilization of PWA networked control systems are even more challenging since they simultaneously involve switches due to the hybrid vector fields (state-based switching) and switches due to the sample and hold devices in the network (event-based switching). The objectives of this thesis are: (a) to design controllers that guarantee exponential stability of the system for a desired sampling period; (b) to design observers that guarantee exponential convergence of the estimation error to the origin for a desired sampling period; and (c) given a controller, to find the maximum allowable network-induced delay that guarantees exponential stability of the sampled-data networked control system. Lyapunov-Krasovskii based approaches are used to propose sufficient stability and stabilization conditions for sampled-data networked control systems. Convex relaxation techniques are employed to cast the proposed stability analysis and controller synthesis criteria in terms of linear matrix inequalities that can be solved efficiently