Fault Tolerant Control Design for Hybrid Systems

by Hao Yang, Bin Jiang, Vincent Cocquempot

Overview

Hybridsystems(HS)aredynamicalsystemsthatinvolvetheinteractionofconti- ousanddiscretedynamics.ThestudyofHSismotivatedbythefundamentally- bridnatureofmanyreallifeapplications.Overthelastdecade,signi?cantprogress has taken place in modeling and simulation, veri?cation, stability and controller synthesisforHS. Faultsinautomatedprocessesoftencauseundesiredreactionsandshut-downof a controlledplant,andtheconsequencescouldbedamagetotechnicalpartsofthe plant or to its environment. Fault diagnosis (FD) and fault tolerant control (FTC) arehighlyrequiredforsafetypurpose,andaimatguaranteeingcertainsystemp-
formances and/or properties to be maintained in spite of faults. In the past more than30years,fruitfultheoreticalresultsonFDandFTChavebeenreportedforv- iouslinearandnonlinearsystemswithmanysuccessfulengineeringapplicationsin practicalsystems. FD problem for HS has attracted some attentions. However, to the best of the authors' knowledge, until now, the FTC issue for HS has not yet been intensively studied. FTC method for HS deserves further investigations due to its academic meaningaswellaspracticalone. 1. Motivationfromacademicresearch Itiswellknownthatthestabilityandsomespeci?cationsofHScanbeachieved underquite rigorousconditions.Most of existing results are devotedto off-line analysisanddesign,suchthattheHSworkswellaswhatitisexpected.However, faultsmayabruptlychangesystembehavior,FTCstrategiesmustbeapplied- line,notonlytokeepthestabilitybutalsotomaintainsomespeci?cationsofthe
HSinpresenceoffaults.Thisresultsinagreattheoreticalchallenge,sincemany classicalFTCmethodsfornon-hybridsystemscannotbeeasilyextendedtoHS. FTCtheoryforHSneedstobedeveloped. VIII Preface 2. Motivationfrompracticalapplications
Manypracticalsystemshavetobemodeledbyhybridmodels,e.g.chemicalp- cesses,switchedRLCcircuits,intelligenttransportationsystems,etc.Thesafety andreliabilityofthesesystemsareneeded,andFTCtechniquesforHSarehighly required. The HS
considered in this book consists of a series of continuous modes and a switching logic. Switching from one mode to another is due to a switching law generated from the switching logic. Faulty behaviors of HS are investigated s- tematically.Two main kindsof faults are considered:Continuous faults that affect continuous modes; Discrete faults that affect the desired switching. In these two faultycases,theFTCdesignhastwomainobjectivesasfollows: 1)
maintainthecontinuousperformancesincludingvariousstabilities (e.g.L- punovstability,asymptoticalstability andinput-to-statestability)oftheoriginand theoutputtracking/regulationbehaviorsalongthetrajectoriesofHS. 2) maintain the discrete speci?cations that have to be followed by HS, e.g. a desiredswitchingsequence.

Product Details

ISBN-13:	9783642106804
Publisher:	Springer Berlin Heidelberg
Publication date:	01/15/2010
Series:	Lecture Notes in Control and Information Sciences , #397
Edition description:	2010
Pages:	192
Product dimensions:	6.10(w) x 9.10(h) x 0.70(d)

Table of Contents

1 Fault Tolerant Control and Hybrid Systems 1

1.1 Background 1

1.1.1 Hybrid Systems 1

1.1.2 Fault Tolerant Control 4

1.2 FTC Problems of HS 5

1.3 The Structure of the Book 8

2 Hybrid Systems with Time-Dependent Switching 11

2.1 Output-Input Stability Technique 11

2.1.1 State Feedback Control for Nonlinear System 12

2.1.2 Observer-Based FTC for Nonlinear System 15

2.1.3 FTC for Hybrid Systems 19

2.2 Overall Fault Tolerant Regulation 21

2.2.1 Fault Tolerant Regulation for Nonlinear Systems 22

2.2.2 Overall Fault Tolerant Regulation 22

2.3 Multiple Observers Method 25

2.3.1 Problem Formulation 25

2.3.2 FTC for Continuous Faults 26

2.3.3 FTC for Discrete Faults 33

2.3.4 FTC Framework 35

2.4 Global Passivity 41

2.4.1 Passivity and Fault Diagnosis 41

2.4.2 Fault Tolerance Analysis of Hybrid Systems 43

2.5 General Stability Results in HS 49

2.5.1 Preliminaries 49

2.5.2 Stabilization of Switched Systems 50

2.6 Conclusion 58

3 Hybrid Systems with State-Dependent Switching 59

3.1 Preliminaries 59

3.2 Hybrid Linear Systems 59

3.2.1 FTC for Linear Systems 60

3.2.2 FTC for Hybrid Systems 64

3.3 Hybrid Nonlinear Systems 74

3.3.1 Preliminaries 74

3.3.2 Fault Diagnosis for Nonlinear Systems 75

3.3.3 FTC for the Nonlinear System 80

3.3.4 FTC for Hybrid Nonlinear System 83

3.4 Conclusion 90

4 Hybrid Systems with Impulsive and Stochastic Switching 91

4.1 Impulsive Switching Case 91

4.1.1 Preliminaries 91

4.1.2 FTC for Single Mode 92

4.1.3 FTC for Hybrid Impulsive Systems 94

4.2 Stochastic Switching Case 100

4.2.1 Preliminaries 100

4.2.2 Fault Tolerance Analysis 101

4.3 Conclusion 112

5 Hybrid Systems with Discrete Specifications 113

5.1 Qualitative FTC Based on Finite State Machine 113

5.1.1 Problem Formulation 113

5.1.2 Qualitative Abstraction for Nonlinear System 116

5.1.3 Qualitative Abstraction of Hybrid Systems 118

5.1.4 Discrete Abstraction 120

5.1.5 Fault Tolerance 121

5.2 FTC via Hybrid Petri Nets 129

5.2.1 Model Setting 130

5.2.2 FD and Marking Estimation 133

5.2.3 FTC Design 140

5.3 Conclusion 147

6 Hybrid Control Approach in FTC Design 149

6.1 Supervisory FTC via Hybrid System Approaches 149

6.1.1 FTC via Overall Regulation 150

6.1.2 FTC via Global Dissipativity 155

6.1.3 FTC via Gain Technique 158

6.2 Hybrid Control Based FTC for Automated Vehicles 164

6.2.1 Background 164

6.2.2 Vehicle Model and Fault Setting 166

6.2.3 Hybrid FTC Scheme 169

6.2.4 Simulation Results 173

6.3 Conclusion 179

7 Conclusion and Future Research Directions 181

References 183

Index 191

Editorial Reviews

From the reviews:

“Fault detection and fault tolerant control techniques have received wide attention in the field of continuous-time, especially linear, systems. … Hence the monograph in question is a very suitable addition to this field. … There is a list of references, with 157 entries, which is a very good compendium of the literature in the field. On the whole, this monograph is a good addition to the industry-relevant research in the field of fault detection and fault tolerant control.” (Amit Patra, Mathematical Reviews, Issue 2011 e)

From the Publisher