Observer based active fault tolerant control of descriptor systems

The active fault tolerant control (AFTC) uses the information provided by fault detection and fault diagnosis (FDD) or fault estimation (FE) systems offering an opportunity to improve the safety, reliability and survivability for complex modern systems. However, in the majority of the literature the roles of FDD/FE and reconfigurable control are described as separate design issues often using a standard state space (i.e. non-descriptor) system model approach. These separate FDD/FE and reconfigurable control designs may not achieve desired stability and robustness performance when combined within a closed-loop system.This work describes a new approach to the integration of FE and fault compensation as a form of AFTC within the context of a descriptor system rather than standard state space system. The proposed descriptor system approach has an integrated controller and observer design strategy offering better design flexibility compared with the equivalent approach using a standard state space system. An extended state observer (ESO) is developed to achieve state and fault estimation based on a joint linear matrix inequality (LMI) approach to pole-placement and H∞ optimization to minimize the effects of bounded exogenous disturbance and modelling uncertainty. A novel proportional derivative (PD)-ESO is introduced to achieve enhanced estimation performance, making use of the additional derivative gain. The proposed approaches are evaluated using a common numerical example adapted from the recent literature and the simulation results demonstrate clearly the feasibility and power of the integrated estimation and control AFTC strategy. The proposed AFTC design strategy is extended to an LPV descriptor system framework as a way of dealing with the robustness and stability of the system with bounded parameter variations arising from the non-linear system, where a numerical example demonstrates the feasibility of the use of the PD-ESO for FE and compensation integrated within the AFTC system.A non-linear offshore wind turbine benchmark system is studied as an application of the proposed design strategy. The proposed AFTC scheme uses the existing industry standard wind turbine generator angular speed reference control system as a “baseline” control within the AFTC scheme. The simulation results demonstrate the added value of the new AFTC system in terms of good fault tolerance properties, compared with the existing baseline system

Full- and reduced-order observer design for rectangular descriptor systems with unknown inputs

In this paper, methods are proposed to design Luenberger type full-and reduced-order observers for rectangular descriptor systems with unknown inputs. These methods are based on the effect of pre- and post-multiplicative operation of a linear transformation, derived here by means of simple matrix theory. Sufficient conditions for the existence of observers are given and proved. Numerical examples are given to illustrate the effectiveness of the proposed method

Unknown input observer approaches to robust fault diagnosis

This thesis focuses on the development of the model-based fault detection and isolation /fault detection and diagnosis (FDI/FDD) techniques using the unknown input observer (UIO) methodology. Using the UI de-coupling philosophy to tackle the robustness issue, a set of novel fault estimation (FE)-oriented UIO approaches are developed based on the classical residual generation-oriented UIO approach considering the time derivative characteristics of various faults. The main developments proposed are:- Implement the residual-based UIO design on a high fidelity commercial aircraft benchmark model to detect and isolate the elevator sensor runaway fault. The FDI design performance is validated using a functional engineering simulation (FES) system environment provided through the activity of an EU FP7 project Advanced Fault Diagnosis for Safer Flight Guidance and Control (ADDSAFE).- Propose a linear time-invariant (LTI) model-based robust fast adaptive fault estimator (RFAFE) with UI de-coupling to estimate the aircraft elevator oscillatory faults considered as actuator faults.- Propose a UI-proportional integral observer (UI-PIO) to estimate actuator multiplicative faults based on an LTI model with UI de-coupling and with added H∞ optimisation to reduce the effects of the sensor noise. This is applied to an example on a hydraulic leakage fault (multiplicative fault) in a wind turbine pitch actuator system, assuming that thefirst derivative of the fault is zero. - Develop an UI–proportional multiple integral observer (UI-PMIO) to estimate the system states and faults simultaneously with the UI acting on the system states. The UI-PMIO leads to a relaxed condition of requiring that the first time derivative of the fault is zero instead of requiring that the finite time fault derivative is zero or bounded. - Propose a novel actuator fault and state estimation methodology, the UI–proportional multiple integral and derivative observer (UI-PMIDO), inspired by both of the RFAFE and UI-PMIO designs. This leads to an observer with the comprehensive feature of estimating faults with bounded finite time derivatives and ensuring fast FE tracking response.- Extend the UI-PMIDO theory based on LTI modelling to a linear parameter varying (LPV) model approach for FE design. A nonlinear two-link manipulator example is used to illustrate the power of this method

Nonlocal Graph-PDEs and Riemannian Gradient Flows for Image Labeling

In this thesis, we focus on the image labeling problem which is the task of performing unique pixel-wise label decisions to simplify the image while reducing its redundant information. We build upon a recently introduced geometric approach for data labeling by assignment flows [ APSS17 ] that comprises a smooth dynamical system for data processing on weighted graphs. Hereby we pursue two lines of research that give new application and theoretically-oriented insights on the underlying segmentation task. We demonstrate using the example of Optical Coherence Tomography (OCT), which is the mostly used non-invasive acquisition method of large volumetric scans of human retinal tis- sues, how incorporation of constraints on the geometry of statistical manifold results in a novel purely data driven geometric approach for order-constrained segmentation of volumetric data in any metric space. In particular, making diagnostic analysis for human eye diseases requires decisive information in form of exact measurement of retinal layer thicknesses that has be done for each patient separately resulting in an demanding and time consuming task. To ease the clinical diagnosis we will introduce a fully automated segmentation algorithm that comes up with a high segmentation accuracy and a high level of built-in-parallelism. As opposed to many established retinal layer segmentation methods, we use only local information as input without incorporation of additional global shape priors. Instead, we achieve physiological order of reti- nal cell layers and membranes including a new formulation of ordered pair of distributions in an smoothed energy term. This systematically avoids bias pertaining to global shape and is hence suited for the detection of anatomical changes of retinal tissue structure. To access the perfor- mance of our approach we compare two different choices of features on a data set of manually annotated 3 D OCT volumes of healthy human retina and evaluate our method against state of the art in automatic retinal layer segmentation as well as to manually annotated ground truth data using different metrics. We generalize the recent work [ SS21 ] on a variational perspective on assignment flows and introduce a novel nonlocal partial difference equation (G-PDE) for labeling metric data on graphs. The G-PDE is derived as nonlocal reparametrization of the assignment flow approach that was introduced in J. Math. Imaging & Vision 58(2), 2017. Due to this parameterization, solving the G-PDE numerically is shown to be equivalent to computing the Riemannian gradient flow with re- spect to a nonconvex potential. We devise an entropy-regularized difference-of-convex-functions (DC) decomposition of this potential and show that the basic geometric Euler scheme for inte- grating the assignment flow is equivalent to solving the G-PDE by an established DC program- ming scheme. Moreover, the viewpoint of geometric integration reveals a basic way to exploit higher-order information of the vector field that drives the assignment flow, in order to devise a novel accelerated DC programming scheme. A detailed convergence analysis of both numerical schemes is provided and illustrated by numerical experiments

Advances in Stereo Vision

Stereopsis is a vision process whose geometrical foundation has been known for a long time, ever since the experiments by Wheatstone, in the 19th century. Nevertheless, its inner workings in biological organisms, as well as its emulation by computer systems, have proven elusive, and stereo vision remains a very active and challenging area of research nowadays. In this volume we have attempted to present a limited but relevant sample of the work being carried out in stereo vision, covering significant aspects both from the applied and from the theoretical standpoints

LMI-based H∞ synchronization of second-order neutral master-slave systems using delayed output feedback control

Submitted version of an article published in the journal: International Journal of Control, Automation and Systems. The original publication is available at www.springerlink.com: http://dx.doi.org/10.1007/s12555-009-0306-5The H∞ synchronization problem of the master and slave structure of a second-order neutral master-slave systems with time-varying delays is presented in this paper. Delay-dependent sufficient conditions for the design of a delayed output-feedback control are given by Lyapunov-Krasovskii method in terms of a linear matrix inequality (LMI). A controller, which guarantees H∞ synchronization of the master and slave structure using some free weighting matrices, is then developed. A numerical example has been given to show the effectiveness of the method. The simulation results illustrate the effectiveness of the proposed methodology. © ICROS, KIEE and Springer 2009

Discrete-time infinity control problem with measurement feedback

The paper is concerned with the discrete-time H(sub infinity) control problem with measurement feedback. The authors extend previous results by having weaker assumptions on the system parameters. The authors also show explicitly the structure of H(sub infinity) controllers. Finally, they show that it is in certain cases possible, without loss of performance, to reduce the dynamical order of the controllers