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Linköping University
1.
Lundqvist, Erik.
Design Patterns for Service-Based Fault Tolerant Mechatronic Systems.
Degree: Computer and Information Science, 2011, Linköping University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-70823 
► In this Master thesis a new framework for achieving fault tolerance in mechatronic systems is studied. The framework is called service-based fault tolerant control…
(more)
▼ In this Master thesis a new framework for achieving fault tolerance in mechatronic systems is studied. The framework is called service-based fault tolerant control and has the advantage of being completely decentralized and modular and therefore scales very well to large system sizes.
First, a method is presented for designing the signal-flow architecture of mechatronic systems of real-life size and complexity. The result is a small set of generic building blocks in the form of design patterns, a concept that has gained widespread popularity in the field of software architecture.
Best practises are then established for how each of the design patterns can be extended to support fault tolerance through diagnosis and reconfiguration according to the service-based framework. These extended design patterns can be used either to aid in the construction of new and more complex mechatronic systems or as a methodology for applying service-based fault tolerant control on large existing systems.
The presented methods for designing and modelling large-scale mechatronic systems have the advantages of being applicable to a large class of mechatronic systems, being easy to apply without expert knowledge, as well as having the potential for being automated in the future.
Finally, a case-study demonstrates how the new methods can be used to construct a fault tolerance architecture for a real-life automotive system currently used by Scania CV AB. As a part of this study a mathematical model for the system was also constructed and implemented. The model can be used for analysis during the development phase as well as troubleshooting in a repair workshop.
Subjects/Keywords: fault-tolerance; fault-tolerant system; fault-tolerant architechture; fault-tolerant control; design pattern; Bayesian network; feltolerns; feltoleranta system; designmönster; TECHNOLOGY; TEKNIKVETENSKAP
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APA (6th Edition):
Lundqvist, E. (2011). Design Patterns for Service-Based Fault Tolerant Mechatronic Systems. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-70823
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Lundqvist, Erik. “Design Patterns for Service-Based Fault Tolerant Mechatronic Systems.” 2011. Thesis, Linköping University. Accessed March 04, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-70823.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Lundqvist, Erik. “Design Patterns for Service-Based Fault Tolerant Mechatronic Systems.” 2011. Web. 04 Mar 2021.
Vancouver:
Lundqvist E. Design Patterns for Service-Based Fault Tolerant Mechatronic Systems. [Internet] [Thesis]. Linköping University; 2011. [cited 2021 Mar 04].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-70823.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Lundqvist E. Design Patterns for Service-Based Fault Tolerant Mechatronic Systems. [Thesis]. Linköping University; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-70823
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Alberta
2.
Sheng,Dian.
H-Infinity Filtering Based Fault Detection, Estimation and
Fault Tolerant Control.
Degree: MS, Department of Electrical and Computer
Engineering, 2016, University of Alberta
URL: https://era.library.ualberta.ca/files/cz029p493n
► This thesis investigates the integrated fault detection, estimation and fault tolerant control problem for linear systems and Lipschitz nonlinear systems. Faults and disturbances are taken…
(more)
▼ This thesis investigates the integrated fault
detection, estimation and fault tolerant control problem for linear
systems and Lipschitz nonlinear systems. Faults and disturbances
are taken into consideration in a unified formulation. A H-infinity
observer-based fault detection filter (FDF) is applied to generate
residual signals. The FDF is designed to minimize the influence of
disturbances and maximize the sensitivity of faults at the same
time. Then a new online fault estimation scheme is designed by
applying H-infinity filtering to residual signals instead of system
outputs. Compared with existing literature, in which system outputs
are commonly adopted for fault estimation, the proposed fault
estimation scheme based on residual signals can achieve more
accurate fault estimation results due to the fact that the
influence of disturbances is minimized in the residual signal
produced by the H-infinity FDF. Finally a fault tolerant controller
is designed to retain the system stability and performance by
compensating for the faults. The integrated scheme consists of
three essential steps that are centered around the residual signal,
namely, generating the residual signal for fault detection, and
filtering the residual signal for fault estimation and fault
compensation. In this framework, fault diagnosis and fault
compensation are designed simultaneously in a closed-loop system.
This integrated scheme is considered to be one of the most
important contributions of this thesis. To demonstrate the
effectiveness of the proposed method, two examples are given and
simulation results are presented.
Subjects/Keywords: Fault Detection; Fault Estimation; Fault Tolerant Control; LMI
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APA (6th Edition):
Sheng,Dian. (2016). H-Infinity Filtering Based Fault Detection, Estimation and
Fault Tolerant Control. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/cz029p493n
Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete
Chicago Manual of Style (16th Edition):
Sheng,Dian. “H-Infinity Filtering Based Fault Detection, Estimation and
Fault Tolerant Control.” 2016. Masters Thesis, University of Alberta. Accessed March 04, 2021.
https://era.library.ualberta.ca/files/cz029p493n.
Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete
MLA Handbook (7th Edition):
Sheng,Dian. “H-Infinity Filtering Based Fault Detection, Estimation and
Fault Tolerant Control.” 2016. Web. 04 Mar 2021.
Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete
Vancouver:
Sheng,Dian. H-Infinity Filtering Based Fault Detection, Estimation and
Fault Tolerant Control. [Internet] [Masters thesis]. University of Alberta; 2016. [cited 2021 Mar 04].
Available from: https://era.library.ualberta.ca/files/cz029p493n.
Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete
Council of Science Editors:
Sheng,Dian. H-Infinity Filtering Based Fault Detection, Estimation and
Fault Tolerant Control. [Masters Thesis]. University of Alberta; 2016. Available from: https://era.library.ualberta.ca/files/cz029p493n
Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete
McMaster University
3.
Mulahuwaish, Aos.
Fault-Tolerant Supervisory Control.
Degree: PhD, 2019, McMaster University
URL: http://hdl.handle.net/11375/24585
► In this thesis, we investigate the problem of fault tolerance in the framework of discrete-event systems (DES). We introduce our setting, and then provide a…
(more)
▼ In this thesis, we investigate the problem of fault tolerance in the framework of discrete-event systems (DES). We introduce our setting, and then provide a set of fault-tolerant definitions designed to capture different types of fault scenarios and to ensure that our system remains controllable and nonblocking in each scenario.
This is a passive approach that relies upon inherent redundancy in the system being controlled, and focuses on the intermittent occurrence of faults.
Our approach provides an easy method for users to add fault events to a system model and is based on user designed supervisors and verification. As synthesis algorithms have higher complexity than verification algorithms, our approach should be applicable to larger systems than existing active fault-recovery methods that are synthesis based. Also, modular supervisors are typically easier to understand and
implement than the results of synthesis.
Finally, our approach does not require expensive (in terms of algorithm complexity) fault diagnosers to work. Diagnosers are, however, required by existing methods to know when to switch to a recovery supervisor. As a result, the response time of diagnosers is not an issue for us. Our supervisors are designed to handle the original and the faulted system.
In this thesis, we next present algorithms to verify these properties followed by complexity analyses and correctness proofs of the algorithms. Finally, examples are provided to illustrate our approach.
In the above framework, permanent faults can be modelled, but the current method was onerous. To address this, we then introduce a new modeling approach for permanent faults that is easy to use, as well as a set of new permanent fault-tolerant definitions. These definitions are designed to capture several types of permanent fault scenarios and to ensure that our system remains controllable and nonblocking in each scenario. New definitions and scenarios were required as the previous ones were incompatible with the new permanent fault modeling approach.
We then present algorithms to verify these properties followed by complexity analyses and correctness proofs of the algorithms. An example is then provided to illustrate our approach.
Finally, we extend the above intermittent and permanent fault-tolerant approach to the timed DES setting. As before, we introduced new fault-tolerant properties and algorithms. We then provide complexity analyses and correctness proofs for the algorithms. An example is then provided to illustrate our approach.
Thesis
Doctor of Philosophy (PhD)
Advisors/Committee Members: Leduc, Ryan, Computer Science.
Subjects/Keywords: Discrete-Event Systems; Supervisory Control; Fault tolerant
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APA (6th Edition):
Mulahuwaish, A. (2019). Fault-Tolerant Supervisory Control. (Doctoral Dissertation). McMaster University. Retrieved from http://hdl.handle.net/11375/24585
Chicago Manual of Style (16th Edition):
Mulahuwaish, Aos. “Fault-Tolerant Supervisory Control.” 2019. Doctoral Dissertation, McMaster University. Accessed March 04, 2021.
http://hdl.handle.net/11375/24585.
MLA Handbook (7th Edition):
Mulahuwaish, Aos. “Fault-Tolerant Supervisory Control.” 2019. Web. 04 Mar 2021.
Vancouver:
Mulahuwaish A. Fault-Tolerant Supervisory Control. [Internet] [Doctoral dissertation]. McMaster University; 2019. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/11375/24585.
Council of Science Editors:
Mulahuwaish A. Fault-Tolerant Supervisory Control. [Doctoral Dissertation]. McMaster University; 2019. Available from: http://hdl.handle.net/11375/24585
University of Toronto
4.
Kok, Yao Hong.
Advances in Fault Diagnosis and Fault Tolerant Control Motivated by Large Flexible Space Structure.
Degree: 2013, University of Toronto
URL: http://hdl.handle.net/1807/42993
► In this thesis, two problems are studied. The first problem is to find a technique to generate a particular type of failure information in real…
(more)
▼ In this thesis, two problems are studied. The first problem is to find a technique to generate a particular type of failure information in real time for large flexible space structures (LFSSs). This problem is solved by using structured residuals. The failure information is then incorporated into an existing fault tolerant control scheme. The second problem is a ``spin-off'' from the first. Although the H-infinity sliding mode observer (SMO) cannot be applied to the colocated LFSS , its ability to do robust state and fault estimation of the SMO makes it suitable to be used in an integrated fault tolerant control (IFTC) scheme. We propose to combine the H-infinity SMO with a linear fault accommodation controller. Our IFTC scheme is closed loop stable, suppresses the effects of faults and enjoys enhanced robustness to disturbances. The effectiveness of the IFTC is illustrated through the control of a permanent magnet synchronous motor under actuator fault.
MAST
Advisors/Committee Members: Kwong, Raymond H., Electrical and Computer Engineering.
Subjects/Keywords: Fault Diagnosis; Fault Tolerant Control; Large Flexible Space Structure; Control; 0790
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APA (6th Edition):
Kok, Y. H. (2013). Advances in Fault Diagnosis and Fault Tolerant Control Motivated by Large Flexible Space Structure. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/42993
Chicago Manual of Style (16th Edition):
Kok, Yao Hong. “Advances in Fault Diagnosis and Fault Tolerant Control Motivated by Large Flexible Space Structure.” 2013. Masters Thesis, University of Toronto. Accessed March 04, 2021.
http://hdl.handle.net/1807/42993.
MLA Handbook (7th Edition):
Kok, Yao Hong. “Advances in Fault Diagnosis and Fault Tolerant Control Motivated by Large Flexible Space Structure.” 2013. Web. 04 Mar 2021.
Vancouver:
Kok YH. Advances in Fault Diagnosis and Fault Tolerant Control Motivated by Large Flexible Space Structure. [Internet] [Masters thesis]. University of Toronto; 2013. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/1807/42993.
Council of Science Editors:
Kok YH. Advances in Fault Diagnosis and Fault Tolerant Control Motivated by Large Flexible Space Structure. [Masters Thesis]. University of Toronto; 2013. Available from: http://hdl.handle.net/1807/42993
Wright State University
5.
Avram, Remus C.
Fault Diagnosis and Fault-Tolerant Control of Quadrotor
UAVs.
Degree: PhD, Engineering PhD, 2016, Wright State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320
► Quadrotors represent a special class of Unmanned Aerial Vehicles (UAVs) and have attracted significant attention in recent years due to their potential in various military…
(more)
▼ Quadrotors represent a special class of Unmanned
Aerial Vehicles (UAVs) and have attracted significant attention in
recent years due to their potential in various military and
civilian applications. However, due to their intrinsic fabrication
process and component damage, quadrotors are prone to various type
of faults. This dissertation presents the design, analysis, and
experimental implementation of
fault diagnosis,
fault-
tolerant
control, and controller verification methods to achieve safety
assurance and trusted autonomy of quadrotor UAVs. First, the issue
of sensor faults is investigated under two different scenarios: (1)
the case when all Euler angles are available for measurement; (2)
the case when roll and pitch angles are not measurable and need to
be estimated. Nonlinear adaptive estimators are designed to provide
possible simultaneous accelerometer and gyroscope
fault detection,
isolation, and bias estimation. Next, the issue of
fault-
tolerant
control of quadrotor UAV in the presence of actuator faults is
considered. First, the design of an integrated
fault diagnosis and
accommodation scheme is investigated. Nonlinear adaptive thresholds
are designed to improve the robustness of the
fault detection and
isolation algorithm. The
fault diagnostic information is used for
accommodating the effect of the faults. Second, a nonlinear
adaptive
fault-
tolerant altitude and attitude controller is
developed to automatically stabilize and recover tracking
performance of the quadrotor, even in the presence of possible
multiple simultaneous actuator faults. Compared with the first
approach, the adaptive
control framework is able to automatically
accommodate the effects of actuator faults without the need of a
fault diagnosis mechanism. Finally, a run-time assurance
architecture is investigated for the verification and validation of
the adaptive
fault-
tolerant altitude attitude controller. The
algorithms are presented with a rigorous framework aimed at
characterizing their performance properties. The above algorithms
are implemented and evaluated using a real-time indoor quadrotor
test environment. Experimental flight test results are shown to
illustrate the effectiveness of the proposed methods.
Advisors/Committee Members: Zhang, Xiaodong (Advisor).
Subjects/Keywords: Electrical Engineering; fault diagnosis; fault-tolerant control; adaptive control; quadrotor UAVs
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APA (6th Edition):
Avram, R. C. (2016). Fault Diagnosis and Fault-Tolerant Control of Quadrotor
UAVs. (Doctoral Dissertation). Wright State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320
Chicago Manual of Style (16th Edition):
Avram, Remus C. “Fault Diagnosis and Fault-Tolerant Control of Quadrotor
UAVs.” 2016. Doctoral Dissertation, Wright State University. Accessed March 04, 2021.
http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320.
MLA Handbook (7th Edition):
Avram, Remus C. “Fault Diagnosis and Fault-Tolerant Control of Quadrotor
UAVs.” 2016. Web. 04 Mar 2021.
Vancouver:
Avram RC. Fault Diagnosis and Fault-Tolerant Control of Quadrotor
UAVs. [Internet] [Doctoral dissertation]. Wright State University; 2016. [cited 2021 Mar 04].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320.
Council of Science Editors:
Avram RC. Fault Diagnosis and Fault-Tolerant Control of Quadrotor
UAVs. [Doctoral Dissertation]. Wright State University; 2016. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320
Georgia Tech
6.
Yang, Qichen.
Control and fault tolerance improvement of the class of modular multilevel converters.
Degree: PhD, Electrical and Computer Engineering, 2018, Georgia Tech
URL: http://hdl.handle.net/1853/62226
► The family of the modular multilevel converters (MMCs) has become the most promising class of converters for medium/high-power energy conversion systems, because of salient features…
(more)
▼ The family of the modular multilevel converters (MMCs) has become the most promising class of converters for medium/high-power energy conversion systems, because of salient features including modularity, scalability, high efficiency, superior harmonic performance, easy realization of the redundancy, and absence of DC-link capacitors. The salient features of the MMCs can potentially be exploited for various applications at medium- and high-voltage levels including adjustable speed drives, solid-state transformers, grid integration of renewable energy resources, etc. However, for each application, unique operational and
control challenges are imposed. As a result, unique
control strategies and design considerations are required to guarantee proper operation of the MMCs, achieve high power density, efficiency, and reliability. Over the past decade, significant research has been performed to address the technical challenges associated with
control and operation of various MMC topologies and to unveil their full promises. This thesis is in continuation of this endeavor. On the
control aspect, a sliding mode
control-based method is proposed for the DCAC MMC. Based on the analysis of system dynamics under the proposed
control method, relations among the
control parameters and their validity conditions are obtained, which provide a guidance for the systematic controller design. In addition, an active thermal loading
control method is also proposed, where a multi-objective optimization problem is formulated and solved to establish a trade-off between the total power losses and the power loss of the semiconductor devices with the highest thermal loading. The Pareto optimal solutions determine the optimal values of the circulating currents, output common-mode voltage, and capacitor voltage reference. On the reliability and
fault-tolerance front, a clustering algorithm-based
fault detection and locating method is proposed to detect the abnormal curve characteristics of any faulty submodule (SM) of a DC-AC MMC and pinpoint the faulty SM(s). Without any additional sensor, the proposed method can accurately detect and locate the faulty SMs within a reasonable time. Subsequent to bypassing the faulty SMs, the maximum attainable terminal voltage of the faulty phase of the DC-AC MMC is reduced. To maximize the available output line-to-line voltages under the condition, a
fault-
tolerant control method based on adaption of the neutral-shift strategy and the supporting circulating current suppression method are proposed. For an AC-AC MMC,
fault-
tolerant control methods for external line-to-ground faults as well as internal SM faults are proposed. Under any external line-to-ground
fault, the input-side current regulation, capacitor voltage balancing, and capacitor voltage fluctuation mitigation methods are redesigned to countermeasure the adverse impact of the negative-sequence voltage components in the input side. To address the internal SM
fault, the SM capacitor voltages of the faulty cluster are modified to keep the voltage output…
Advisors/Committee Members: Saeedifard, Maryam (advisor), Habetler, Thomas G. (committee member), Graber, Lukas (committee member), Meliopoulos, A. P. (committee member), Narimani, Mehdi (committee member), Grijalva, Santiago C. (committee member).
Subjects/Keywords: Modular multilevel converter; Control; Fault detection; Fault tolerant; Hybrid topology
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APA (6th Edition):
Yang, Q. (2018). Control and fault tolerance improvement of the class of modular multilevel converters. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62226
Chicago Manual of Style (16th Edition):
Yang, Qichen. “Control and fault tolerance improvement of the class of modular multilevel converters.” 2018. Doctoral Dissertation, Georgia Tech. Accessed March 04, 2021.
http://hdl.handle.net/1853/62226.
MLA Handbook (7th Edition):
Yang, Qichen. “Control and fault tolerance improvement of the class of modular multilevel converters.” 2018. Web. 04 Mar 2021.
Vancouver:
Yang Q. Control and fault tolerance improvement of the class of modular multilevel converters. [Internet] [Doctoral dissertation]. Georgia Tech; 2018. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/1853/62226.
Council of Science Editors:
Yang Q. Control and fault tolerance improvement of the class of modular multilevel converters. [Doctoral Dissertation]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/62226
University of Ontario Institute of Technology
7.
He, Huan.
Design of a fault tolerant control scheme based on sliding mode for Canadian supercritical water reactor.
Degree: 2016, University of Ontario Institute of Technology
URL: http://hdl.handle.net/10155/715
► Canadian Super Critical Water Reactor (SCWR) is one of the Generation IV reactor types and possible heat source for co-hydrogen production through copper chlorine thermochemical…
(more)
▼ Canadian Super Critical Water Reactor (SCWR) is one of the Generation IV reactor types and possible heat source for co-hydrogen production through copper chlorine thermochemical cycle. To maintain the balance between the hydrogen production and electricity production effectively and to utilize the waste heat more efficiently, a well-designed
control system for the Canadian SCWR is needed. The SCWR is a nonlinear and strongly coupled multiple-input multiple-output (MIMO) plant. Traditional controller design method, which divides the MIMO system into subsystems and then designs each controller separately, will not obtain satisfactory performance. To accomplish different
control objectives of different system variables simultaneously, an integrated multivariable
control strategy is needed. Furthermore, as a highly safety-critical system, it is desired that safe and stable performance of the plant can be maintained even in faulty situations. A sliding mode-based
Fault Tolerant Control (FTC) scheme, which includes a robust multi-input multi-output controller, a
Fault Detection/Isolation (FDI) module and a
Fault Accommodation (FA) module, is designed for the overall Canadian SCWR plant in this study. The simulation results indicated that compared to previous
control scheme design, better performance was obtained in terms of tracking speed, accuracy, decoupling capacity and
control effort in the
fault free case. In the faulty case,
fault information can be detected and estimated. Acceptable tracking performance was maintained and the variation of steam temperature within design limit was guaranteed.
Advisors/Committee Members: Lu, Lixuan.
Subjects/Keywords: Canadian SCWR; Sliding mode control; Fault detection and isolation; Fault tolerant control
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APA ·
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Manager
APA (6th Edition):
He, H. (2016). Design of a fault tolerant control scheme based on sliding mode for Canadian supercritical water reactor. (Thesis). University of Ontario Institute of Technology. Retrieved from http://hdl.handle.net/10155/715
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
He, Huan. “Design of a fault tolerant control scheme based on sliding mode for Canadian supercritical water reactor.” 2016. Thesis, University of Ontario Institute of Technology. Accessed March 04, 2021.
http://hdl.handle.net/10155/715.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
He, Huan. “Design of a fault tolerant control scheme based on sliding mode for Canadian supercritical water reactor.” 2016. Web. 04 Mar 2021.
Vancouver:
He H. Design of a fault tolerant control scheme based on sliding mode for Canadian supercritical water reactor. [Internet] [Thesis]. University of Ontario Institute of Technology; 2016. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/10155/715.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
He H. Design of a fault tolerant control scheme based on sliding mode for Canadian supercritical water reactor. [Thesis]. University of Ontario Institute of Technology; 2016. Available from: http://hdl.handle.net/10155/715
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Loughborough University
8.
Kaijuka, Precious.
Fault-Tolerant Control (FTC) applied to an inherently redundant electromechanical railway track switch.
Degree: PhD, 2019, Loughborough University
URL: https://doi.org/10.26174/thesis.lboro.12379655.v1
;
https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.812957
► Track switches are essential in order to enable railway vehicles to change routes however they are also the largest single cause of failure on the…
(more)
▼ Track switches are essential in order to enable railway vehicles to change routes however they are also the largest single cause of failure on the railway network and remain a single point of failure. This thesis focusses on modelling and fault tolerant control of a new type of electromechanical railway track switch. Unlike conventional track switch machines, this switch needs closed loop feedback control. Firstly, a detailed simulation model of the switch is developed and validated against experimental results. Two model-based control designs are then developed and tested: a classical cascaded P/PI controller and a modern state feedback LQR controller. The two controllers are compared and it is found that, whilst there are some performance differences, both meet the requirements for use in a redundantly actuated track switch. Following this, a fault tolerant control scheme for sensor faults is developed and validated using fault detection, identification and accommodation methods applied to a detailed non-linear simulation model and then validated on the experimental test rig. The results demonstrate that using a reliable fault tolerant control configuration could increase the availability and reliability of the switch in the presence of sensor faults. Finally, a fault tolerant control approach to actuator faults on the switch with triplex redundancy is developed and validated. In order to achieve this, a dynamic model of a railway track is developed in simulation as the basis for load application to the system. Three parallel actuators with their associated controllers are used to actuate the switch showing good performance in meeting the position control requirements. Different actuator faults are applied and their control performance results are shown. A summary of the control performance is also presented highlighting the differences in performance with different permutations of actuator faults. Overall, it is shown that redundancy in actuation with a suitable control scheme provides benefits in achieving post-fault availability of a redundantly actuated electromechanical railway track switch in the presence of actuator faults.
Subjects/Keywords: Fault accommodation; fault tolerant control; reconfigurable control; track switch failure; point failure
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APA ·
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APA (6th Edition):
Kaijuka, P. (2019). Fault-Tolerant Control (FTC) applied to an inherently redundant electromechanical railway track switch. (Doctoral Dissertation). Loughborough University. Retrieved from https://doi.org/10.26174/thesis.lboro.12379655.v1 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.812957
Chicago Manual of Style (16th Edition):
Kaijuka, Precious. “Fault-Tolerant Control (FTC) applied to an inherently redundant electromechanical railway track switch.” 2019. Doctoral Dissertation, Loughborough University. Accessed March 04, 2021.
https://doi.org/10.26174/thesis.lboro.12379655.v1 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.812957.
MLA Handbook (7th Edition):
Kaijuka, Precious. “Fault-Tolerant Control (FTC) applied to an inherently redundant electromechanical railway track switch.” 2019. Web. 04 Mar 2021.
Vancouver:
Kaijuka P. Fault-Tolerant Control (FTC) applied to an inherently redundant electromechanical railway track switch. [Internet] [Doctoral dissertation]. Loughborough University; 2019. [cited 2021 Mar 04].
Available from: https://doi.org/10.26174/thesis.lboro.12379655.v1 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.812957.
Council of Science Editors:
Kaijuka P. Fault-Tolerant Control (FTC) applied to an inherently redundant electromechanical railway track switch. [Doctoral Dissertation]. Loughborough University; 2019. Available from: https://doi.org/10.26174/thesis.lboro.12379655.v1 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.812957
University of Rochester
9.
Yu, Qiaoyan (1979 - ).
Transient and permanent error management for
networks-on-chip.
Degree: PhD, 2011, University of Rochester
URL: http://hdl.handle.net/1802/14810
► Reliability has become one of the most important metrics for on-chip communications infrastructures in nanoscale technologies. Reduced supply voltages and high clock frequency exacerbate the…
(more)
▼ Reliability has become one of the most important
metrics for on-chip
communications infrastructures in nanoscale
technologies. Reduced supply voltages
and high clock frequency
exacerbate the impact of noise sources such as particle
strikes
and crosstalk, which can cause transient errors in transmitted
data.
Manufacturing defects and aging issues can cause permanent
errors in the
communication links. The modularity of the
Networks-on-Chip (NoCs) approach
facilitates the exploration of
error control techniques for on-chip interconnects and
many-cores
systems. Unfortunately, error control is not free. Worst-case
error
management methods are simple but waste energy and bandwidth
in favorable noise
conditions. Consequently, cost-effective
techniques for improving link error
resilience are needed. In this
work, we propose configurable error control methods to
tackle
variable transient errors and exploit existing transient error
control redundancy
for permanent error management, achieving high
reliability and low average energy
consumption with minor area
overhead.
To adapt to the variable transient error rates, a
configurable error control
coding (ECC) scheme is proposed for
datalink-layer transient error management. The
proposed method can
adjust both error detection and error correction capability at
runtime by varying the number of redundant wires for parity check
bits. The obtained
error resilience makes the proposed method
suitable for a range of link error rates.
Configuring the number
of redundant wires to match the noise conditions reduces the
average energy consumption in the ECC codec and interconnect link.
A hardware efficient
implementation for the configurable ECC is
presented, as well.
We integrate the error control techniques in
the datalink and physical layers to
co-manage transient and
permanent errors. Infrequently used redundant wires for the
configurable ECC are utilized as spare wires to replace permanently
unusable links.
To maintain the transient and permanent error
co-management capability as noise
conditions change, we propose a
packet re-organization algorithm combined with
shortening error
control coding method. This method reduces the need for energy
consuming
fault-tolerant routing, minimizing latency and energy
overhead induced by
error control. This co-management method is
suitable for NoCs operating in variable
noise conditions with a
small number of permanently unusable wires.
To further improve
energy efficiency, the adaptation on ECC is extended to
the
network layer. We employ end-to-end error control in the network
layer in low
noise conditions and enhance the error control
capability in high noise conditions by
adding hop-to-hop error
control in the datalink layer. A protocol that boosts or
reduces
error control strength is presented to support runtime seamless ECC
mode
switching. Simply combining end-to-end error control with
hop-to-hop error control
significantly increases energy
consumption. To address this issue, we apply the concept of product…
Subjects/Keywords: Error control coding; Networks-on-chip; Reliability; Fault-tolerant; Energy efficiency
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MLA ·
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Manager
APA (6th Edition):
Yu, Q. (. -. ). (2011). Transient and permanent error management for
networks-on-chip. (Doctoral Dissertation). University of Rochester. Retrieved from http://hdl.handle.net/1802/14810
Chicago Manual of Style (16th Edition):
Yu, Qiaoyan (1979 - ). “Transient and permanent error management for
networks-on-chip.” 2011. Doctoral Dissertation, University of Rochester. Accessed March 04, 2021.
http://hdl.handle.net/1802/14810.
MLA Handbook (7th Edition):
Yu, Qiaoyan (1979 - ). “Transient and permanent error management for
networks-on-chip.” 2011. Web. 04 Mar 2021.
Vancouver:
Yu Q(-). Transient and permanent error management for
networks-on-chip. [Internet] [Doctoral dissertation]. University of Rochester; 2011. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/1802/14810.
Council of Science Editors:
Yu Q(-). Transient and permanent error management for
networks-on-chip. [Doctoral Dissertation]. University of Rochester; 2011. Available from: http://hdl.handle.net/1802/14810
University of Alberta
10.
Allahverdi Charandabi, Behnam.
Robust Filter Design in Networked Control Systems.
Degree: PhD, Department of Electrical and Computer
Engineering, 2014, University of Alberta
URL: https://era.library.ualberta.ca/files/bz60cx460
► In this thesis, we study the problem of robust filtering under network-induced errors. Our intention is to design a robust filter that provides stable estimates…
(more)
▼ In this thesis, we study the problem of robust
filtering under network-induced errors. Our intention is to design
a robust filter that provides stable estimates of the plant states
when the plant model is uncertain, the states are disturbed with an
unknown input, and the measurements are quantized and therefore
erroneous. To this end, we tackle the problem by first studying the
various problems caused by the network and their effects on the
filtering process when there are no model uncertainties and unknown
inputs. Since our final design needs to be robust to unknown
disturbances, we will propose two novel unknown-input linear
filters, which are free of some of the restrictive assumptions seen
in the literature. Both of these filters are based on a modified
plant model, however, one of them has more design parameters and
comes with a heavier computational burden than the other, but in
return it generates slightly smoother estimates of both the states
and the unknown input. Having two distinct classes of filters, one
with the ability to estimate the network-induced errors and one
capable of estimating and rejecting unknown disturbances, we next
propose a two-zone robust filter, which estimates the states with
limited information and under unknown disturbances. The two-zone
idea is based on the fact that the error caused by a linear
quantizer is significant only when the estimates are close to their
real values. Taking advantage of this fact, the estimation space
can be divided into two operating zones based on the reliability of
the received information. Finally, the two-zone filter is adapted
for a fault-tolerant filtering application where the measurements
are assumed to undergo coarse quantization, and unknown
disturbances and model uncertainties are employed to model various
fault scenarios.
Subjects/Keywords: Quantization; Filter Design; Networked Control Systems; Fault-Tolerant Filtering
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APA ·
Chicago ·
MLA ·
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Manager
APA (6th Edition):
Allahverdi Charandabi, B. (2014). Robust Filter Design in Networked Control Systems. (Doctoral Dissertation). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/bz60cx460
Chicago Manual of Style (16th Edition):
Allahverdi Charandabi, Behnam. “Robust Filter Design in Networked Control Systems.” 2014. Doctoral Dissertation, University of Alberta. Accessed March 04, 2021.
https://era.library.ualberta.ca/files/bz60cx460.
MLA Handbook (7th Edition):
Allahverdi Charandabi, Behnam. “Robust Filter Design in Networked Control Systems.” 2014. Web. 04 Mar 2021.
Vancouver:
Allahverdi Charandabi B. Robust Filter Design in Networked Control Systems. [Internet] [Doctoral dissertation]. University of Alberta; 2014. [cited 2021 Mar 04].
Available from: https://era.library.ualberta.ca/files/bz60cx460.
Council of Science Editors:
Allahverdi Charandabi B. Robust Filter Design in Networked Control Systems. [Doctoral Dissertation]. University of Alberta; 2014. Available from: https://era.library.ualberta.ca/files/bz60cx460
University of Toronto
11.
Xu, Gong Xin.
Nonlinear Fault-tolerant Guidance and Control for Damaged Aircraft.
Degree: 2011, University of Toronto
URL: http://hdl.handle.net/1807/31644
► This research work presents a fault-tolerant flight guidance and control framework to deal with damaged aircraft. Damaged scenarios include the loss of thrust, actuator malfunction…
(more)
▼ This research work presents a fault-tolerant flight guidance and control framework to deal with damaged aircraft. Damaged scenarios include the loss of thrust, actuator malfunction and airframe damage. The developed framework objective is to ensure that damaged aircraft can be stabilized and controlled at all times. The guidance system is responsible for providing the airspeed, vertical and horizontal flight path angle commands while considering aircraft dynamics. The control system, designed by the nonlinear state-dependent Riccati equation (SDRE) control method, is used to track the guidance commands and to stabilize the damaged aircraft. The versatility of SDRE allows it to passively adapt to the aircraft parameter variations due to damage. A novel nonlinear adaptive control law is proposed to improve the controller performance. The new control law demonstrated improved tracking ability. The framework is implemented on the nonlinear Boeing 747 and NASA Generic Transport Model (GTM) to investigate the simulation results.
MAST
Advisors/Committee Members: Liu, Hugh H. T., Aerospace Science and Engineering.
Subjects/Keywords: fault-tolerant guidance and control; damaged aircraft; 0538
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Manager
APA (6th Edition):
Xu, G. X. (2011). Nonlinear Fault-tolerant Guidance and Control for Damaged Aircraft. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/31644
Chicago Manual of Style (16th Edition):
Xu, Gong Xin. “Nonlinear Fault-tolerant Guidance and Control for Damaged Aircraft.” 2011. Masters Thesis, University of Toronto. Accessed March 04, 2021.
http://hdl.handle.net/1807/31644.
MLA Handbook (7th Edition):
Xu, Gong Xin. “Nonlinear Fault-tolerant Guidance and Control for Damaged Aircraft.” 2011. Web. 04 Mar 2021.
Vancouver:
Xu GX. Nonlinear Fault-tolerant Guidance and Control for Damaged Aircraft. [Internet] [Masters thesis]. University of Toronto; 2011. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/1807/31644.
Council of Science Editors:
Xu GX. Nonlinear Fault-tolerant Guidance and Control for Damaged Aircraft. [Masters Thesis]. University of Toronto; 2011. Available from: http://hdl.handle.net/1807/31644
University of Victoria
12.
Feldstein, Cary Benjamin.
Development of a fault tolerant flight control system.
Degree: Dept. of Computer Science, 2008, University of Victoria
URL: http://hdl.handle.net/1828/496
Subjects/Keywords: Flight control; Fault-tolerant computing
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Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Feldstein, C. B. (2008). Development of a fault tolerant flight control system. (Thesis). University of Victoria. Retrieved from http://hdl.handle.net/1828/496
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Feldstein, Cary Benjamin. “Development of a fault tolerant flight control system.” 2008. Thesis, University of Victoria. Accessed March 04, 2021.
http://hdl.handle.net/1828/496.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Feldstein, Cary Benjamin. “Development of a fault tolerant flight control system.” 2008. Web. 04 Mar 2021.
Vancouver:
Feldstein CB. Development of a fault tolerant flight control system. [Internet] [Thesis]. University of Victoria; 2008. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/1828/496.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Feldstein CB. Development of a fault tolerant flight control system. [Thesis]. University of Victoria; 2008. Available from: http://hdl.handle.net/1828/496
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
13.
Pulvirenti, Mario.
Fault tolerant solutions for ac multidrive systems.
Degree: 2016, Università degli Studi di Catania
URL: http://hdl.handle.net/10761/4017
► Questa tesi, presenta uno studio riguardante sistemi in cui operano più azionamenti elettrici, i quali possono essere collegati in modo da definire un sistema multi-drive.…
(more)
▼ Questa tesi, presenta uno studio riguardante sistemi in cui operano più azionamenti elettrici, i quali possono essere collegati in modo da definire un sistema multi-drive. In questo modo, una nuova topologia tollerante ai guasti è stata sviluppata e verificata sperimentalmente, in cui i drive sani supportano quelli guasti, evitando interruzioni che potrebbero essere critiche per motivi di sicurezza o economiche. La valutazione delle performance e dell efficienza durante le operazioni dopo il guasto è realizzata con sistemi multi-drive con due o tre azionamenti elettrici. Il sistema multi-drive composto da due azionamenti, di cui uno rotante e l altro statico, è usato anche per analizzare un sistema di generazione eolica.
Un ulteriore aspetto analizzato, riguarda la stima corretta della posizione di rotore di un singolo azionamento elettrico, presente in un sistema multi-drive, con sensori a bassa risoluzione. A causa di guasti che possono accadere su tali sensori, un opportuna tecnica di compensazione è presentata e verificata con tre diversi algoritmi.
Subjects/Keywords: Area 09 - Ingegneria industriale e dell'informazione; fault tolerant, multidrive, vector control
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APA (6th Edition):
Pulvirenti, M. (2016). Fault tolerant solutions for ac multidrive systems. (Thesis). Università degli Studi di Catania. Retrieved from http://hdl.handle.net/10761/4017
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Pulvirenti, Mario. “Fault tolerant solutions for ac multidrive systems.” 2016. Thesis, Università degli Studi di Catania. Accessed March 04, 2021.
http://hdl.handle.net/10761/4017.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Pulvirenti, Mario. “Fault tolerant solutions for ac multidrive systems.” 2016. Web. 04 Mar 2021.
Vancouver:
Pulvirenti M. Fault tolerant solutions for ac multidrive systems. [Internet] [Thesis]. Università degli Studi di Catania; 2016. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/10761/4017.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Pulvirenti M. Fault tolerant solutions for ac multidrive systems. [Thesis]. Università degli Studi di Catania; 2016. Available from: http://hdl.handle.net/10761/4017
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
14.
Fall, Ousmane.
Contribution à l'étude de machines électriques polyphasées à aimants permanents en vue d'une meilleur gestion de la commande en modes dégradés pour des applications liées aux énergies renouvelables marines. : Study of multiphase electricals permanent magnet machines for a bestmanagement of control in faults modes for marine renewable energy systems.
Degree: Docteur es, Génie électrique, 2017, Paris, ENSAM
URL: http://www.theses.fr/2017ENAM0002
► L’objectif de cette thèse est d’étudier des machines électriques à aimants permanents polyphasées et leur commande pouvant fonctionner en modes dégradés sur une large plage…
(more)
▼ L’objectif de cette thèse est d’étudier des machines électriques à aimants permanents polyphasées et leur commande pouvant fonctionner en modes dégradés sur une large plage de vitesse dans le cadre d’une application de génération d’énergie hydrolienne. Ceci se justifie par le fait que, pour les applications liées à l’extraction d’énergie marine, les installations ne sont pas facilement accessibles pour des opérations de maintenance. Ainsi, des stratégies de commande ont été élaborées, pour des MSAP pentaphasées et à 2X3 phases, en mode sain et en modes dégradés, sur une large plage de vitesse avec un mode de défluxage. Une étude comparative a été faite sur le comportement en vitesse variable, en mode sain et en modes dégradés d’un certain nombre de MSAP à bobinage concentré autour des dents. Cette étude s’appuie sur un modèle analytique, qui estime à partir d’un cahier des charges et de la combinaison encoche/pôle, les inductances et les Forces électromotrices. Cet outil a permis également d’effectuer une première évaluation qualitative les phénomènes perturbateurs internes à la machine (Pertes dans les aimants et répartition des forces radiales) vis-à-vis de ces stratégies de commande. Enfin l’énergie extraite sur une durée significative en mode sain et en modes dégradés pour une turbine à pas fixe associée à plusieurs types de génératrices polyphasées a été quantifiée sur un site hydrolien typique (Raz de Sein).
The aim of this thesis is to study multiphase permanent magnet electrical synchronous machines (PMSM) and associated control strategies for tidal energy harnessing. These systems must be able to operate in fault mode in a wide range of speed. Indeed, for marine energy extraction applications, it is difficult to access to the site for maintenance operations. Specific control strategies in healthy and faults modes have been proposed, for 5 phases and 2X3 phases PMSM in a wide range of speed including flux weakening operations. A comparative study has also been done by evaluating the torque speed characteristics of several PMSM with fractional slot concentrated winding. This study is based on an analytical model which allows evaluating inductance values and EMF waveforms, from the knowledge of slot/pole combination of the machine windings. This analytical model allows evaluating qualitatively the impact of the control strategies on magnet losses and radial forces. Finally a practical case of tidal current energy extraction has been studied by quantifying extracted energy, in healthy and in faults modes for several multiphase electrical generators associated with a fixed pitch turbine in a typical tidal site.
Advisors/Committee Members: Charpentier, Jean-Frédéric (thesis director).
Subjects/Keywords: Machine électrique; Commande; Mode dégradé; Electrical machine; Control; Fault tolerant
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APA (6th Edition):
Fall, O. (2017). Contribution à l'étude de machines électriques polyphasées à aimants permanents en vue d'une meilleur gestion de la commande en modes dégradés pour des applications liées aux énergies renouvelables marines. : Study of multiphase electricals permanent magnet machines for a bestmanagement of control in faults modes for marine renewable energy systems. (Doctoral Dissertation). Paris, ENSAM. Retrieved from http://www.theses.fr/2017ENAM0002
Chicago Manual of Style (16th Edition):
Fall, Ousmane. “Contribution à l'étude de machines électriques polyphasées à aimants permanents en vue d'une meilleur gestion de la commande en modes dégradés pour des applications liées aux énergies renouvelables marines. : Study of multiphase electricals permanent magnet machines for a bestmanagement of control in faults modes for marine renewable energy systems.” 2017. Doctoral Dissertation, Paris, ENSAM. Accessed March 04, 2021.
http://www.theses.fr/2017ENAM0002.
MLA Handbook (7th Edition):
Fall, Ousmane. “Contribution à l'étude de machines électriques polyphasées à aimants permanents en vue d'une meilleur gestion de la commande en modes dégradés pour des applications liées aux énergies renouvelables marines. : Study of multiphase electricals permanent magnet machines for a bestmanagement of control in faults modes for marine renewable energy systems.” 2017. Web. 04 Mar 2021.
Vancouver:
Fall O. Contribution à l'étude de machines électriques polyphasées à aimants permanents en vue d'une meilleur gestion de la commande en modes dégradés pour des applications liées aux énergies renouvelables marines. : Study of multiphase electricals permanent magnet machines for a bestmanagement of control in faults modes for marine renewable energy systems. [Internet] [Doctoral dissertation]. Paris, ENSAM; 2017. [cited 2021 Mar 04].
Available from: http://www.theses.fr/2017ENAM0002.
Council of Science Editors:
Fall O. Contribution à l'étude de machines électriques polyphasées à aimants permanents en vue d'une meilleur gestion de la commande en modes dégradés pour des applications liées aux énergies renouvelables marines. : Study of multiphase electricals permanent magnet machines for a bestmanagement of control in faults modes for marine renewable energy systems. [Doctoral Dissertation]. Paris, ENSAM; 2017. Available from: http://www.theses.fr/2017ENAM0002
Florida International University
15.
Abbaspour, Ali Reza.
Active Fault-Tolerant Control Design for Nonlinear Systems.
Degree: PhD, Electrical Engineering, 2018, Florida International University
URL: https://digitalcommons.fiu.edu/etd/3917
;
FIDC006990
► Faults and failures in system components are the two main reasons for the instability and the degradation in control performance. In recent decades, fault-tolerant…
(more)
▼ Faults and failures in system components are the two main reasons for the instability and the degradation in
control performance. In recent decades,
fault-
tolerant control (FTC) approaches were introduced to improve the resiliency of the
control system against faults and failures. In general, FTC techniques are classified into two major groups: passive and active. Passive FTC systems do not rely on the
fault information to
control the system and are closely related to the robust
control techniques while an active FTC system performs based on the information received from the
fault detection and isolation (FDI) system, and the
fault problem will be tackled more intelligently without affecting other parts of the system.
This dissertation technically reviews
fault and failure causes in
control systems and finds solutions to compensate for their effects. Recent achievements in FDI approaches, and active and passive FTC designs are investigated. Thorough comparisons of several different aspects are conducted to understand the advantages and disadvantages of different FTC techniques to motivate researchers to further developing FTC, and FDI approaches.
Then, a novel active FTC system framework based on online FDI is presented which has significant advantages in comparison with other state of the art FTC strategies. To design the proposed active FTC, a new FDI approach is introduced which uses the artificial neural network (ANN) and a model based observer to detect and isolate faults and failures in sensors and actuators. In addition, the extended Kalman filter (EKF) is introduced to tune ANN weights and improve the ANN performance. Then, the FDI signal combined with a nonlinear dynamic inversion (NDI) technique is used to compensate for the faults in the actuators and sensors of a nonlinear system. The proposed scheme detects and accommodates faults in the actuators and sensors of the system in real-time without the need of controller reconfiguration.
The proposed active FTC approach is used to design a
control system for three different applications: Unmanned aerial vehicle (UAV), load frequency
control system, and proton exchange membrane fuel cell (PEMFC) system. The performance of the designed controllers are investigated through numerical simulations by comparison with conventional
control approaches, and their advantages are demonstrated.
Advisors/Committee Members: Kang K. Yen, Jean Andrian, Arif I. Sarwat, Arman Sargolzaei, Alexander Perez-Pons.
Subjects/Keywords: Fault Detection; Active Fault Tolerant Control; Resiliency; Nonlinear Control; Controls and Control Theory; Navigation, Guidance, Control and Dynamics
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APA (6th Edition):
Abbaspour, A. R. (2018). Active Fault-Tolerant Control Design for Nonlinear Systems. (Doctoral Dissertation). Florida International University. Retrieved from https://digitalcommons.fiu.edu/etd/3917 ; FIDC006990
Chicago Manual of Style (16th Edition):
Abbaspour, Ali Reza. “Active Fault-Tolerant Control Design for Nonlinear Systems.” 2018. Doctoral Dissertation, Florida International University. Accessed March 04, 2021.
https://digitalcommons.fiu.edu/etd/3917 ; FIDC006990.
MLA Handbook (7th Edition):
Abbaspour, Ali Reza. “Active Fault-Tolerant Control Design for Nonlinear Systems.” 2018. Web. 04 Mar 2021.
Vancouver:
Abbaspour AR. Active Fault-Tolerant Control Design for Nonlinear Systems. [Internet] [Doctoral dissertation]. Florida International University; 2018. [cited 2021 Mar 04].
Available from: https://digitalcommons.fiu.edu/etd/3917 ; FIDC006990.
Council of Science Editors:
Abbaspour AR. Active Fault-Tolerant Control Design for Nonlinear Systems. [Doctoral Dissertation]. Florida International University; 2018. Available from: https://digitalcommons.fiu.edu/etd/3917 ; FIDC006990
Delft University of Technology
16.
Pezzato, Corrado (author).
Active inference for adaptive and fault tolerant control: An application to robot manipulators.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:778766d3-b500-40d7-8117-e081223b5d4e
► Dealing with inherently unmodeled dynamics and large parameter variations or faults, is a challenging task while controlling robot manipulators. Classical control techniques cannot usually provide…
(more)
▼ Dealing with inherently unmodeled dynamics and large parameter variations or faults, is a challenging task while controlling robot manipulators. Classical control techniques cannot usually provide satisfactory responses, and often external supervision systems have to be designed to handle the faults. Recent research has shown that active inference, a unifying neuroscientific theory of the brain, bares the potential of intrinsically coping with strong uncertainties in the system, mimicking the adaptability capabilities of humans. However, the current state-of-the-art regarding active inference in robotics is very narrow and limited. This thesis presents a novel active inference controller as a general adaptive fault tolerant solution for control of robot manipulators. The goal of this work is threefold. First, we demonstrate the applicability of active inference in robotics, deriving a control scheme which is computationally efficient and with high performance. Second, we verify the claimed adaptability properties of active inference against a model reference adaptive controller, in a simulated on-line pick and place task with a 7 degrees-of-freedom robot arm. Third, we propose a method to exploit the controller's structure to perform fault detection, isolation and recovery, without the use of external supervision systems. This work showed that not only active inference is applicable to robotics, but it also outperforms the model reference adaptive controller, and it allows to efficiently deal with sensory faults. This thesis represents a leap forward with respect to the current state-of-the-art of active inference for robotics, and it lays the foundations for further research in this direction.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: Ferrari, Riccardo (mentor), Hernandez Corbato, Carlos (mentor), Wisse, Martijn (graduation committee), Kok, Manon (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Active inference; Free-energy principle; Adaptive control; Fault tolerant control; Robot arm control
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APA (6th Edition):
Pezzato, C. (. (2019). Active inference for adaptive and fault tolerant control: An application to robot manipulators. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:778766d3-b500-40d7-8117-e081223b5d4e
Chicago Manual of Style (16th Edition):
Pezzato, Corrado (author). “Active inference for adaptive and fault tolerant control: An application to robot manipulators.” 2019. Masters Thesis, Delft University of Technology. Accessed March 04, 2021.
http://resolver.tudelft.nl/uuid:778766d3-b500-40d7-8117-e081223b5d4e.
MLA Handbook (7th Edition):
Pezzato, Corrado (author). “Active inference for adaptive and fault tolerant control: An application to robot manipulators.” 2019. Web. 04 Mar 2021.
Vancouver:
Pezzato C(. Active inference for adaptive and fault tolerant control: An application to robot manipulators. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 04].
Available from: http://resolver.tudelft.nl/uuid:778766d3-b500-40d7-8117-e081223b5d4e.
Council of Science Editors:
Pezzato C(. Active inference for adaptive and fault tolerant control: An application to robot manipulators. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:778766d3-b500-40d7-8117-e081223b5d4e
17.
Khatiwada, Sital.
CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING.
Degree: MS, 2019, University of New Hampshire
URL: https://scholars.unh.edu/thesis/1276
► Over the last decade, autonomous Unmanned Aerial Vehicles (UAVs) have seen increased usage in industrial, defense, research, and academic applications. Specific attention is given…
(more)
▼ Over the last decade, autonomous Unmanned Aerial Vehicles (UAVs) have seen
increased usage in industrial, defense, research, and academic applications. Specific
attention is given to multirotor platforms due to their high maneuverability, utility, and
accessibility. As such, multirotors are often utilized in a variety of operating conditions
such as populated areas, hazardous environments, inclement weather, etc. In this study, the
effectiveness of multirotor platforms, specifically quadrotors, to behave as Earth-based
satellite test platforms is discussed. Additionally, due to concerns over system operations
under such circumstances, it becomes critical that multirotors are capable of operation
despite experiencing undesired conditions and collisions which make the platform susceptible
to on-board hardware faults. Without countermeasures to account for such faults,
specifically actuator faults, a multirotors will experience catastrophic
failure. In this thesis, a
control strategy for a quadrotor under nominal
and
fault conditions is proposed. The process of defining the quadrotor dynamic model is
discussed in detail. A dual-loop SMC/PID
control scheme is proposed to
control the attitude
and position states of the nominal system. Actuator faults on-board the quadrotor are
interpreted as motor performance losses, specifically loss in rotor speeds. To
control a
faulty system, an additive
control scheme is implemented in conjunction with the nominal
scheme. The quadrotor platform is developed via analysis of the various
subcomponents. In addition, various physical parameters of the quadrotor are determined
experimentally. Simulated and experimental testing showed promising results, and provide
encouragement for further refinement in the future.
Advisors/Committee Members: May-Win Thein, Barry Fussell, Se Young Yoon.
Subjects/Keywords: Control Theory; Fault Tolerant Control; Multirotor; Quadcopter; Satellite Dynamics; Sliding Mode Control
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APA (6th Edition):
Khatiwada, S. (2019). CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING. (Thesis). University of New Hampshire. Retrieved from https://scholars.unh.edu/thesis/1276
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Khatiwada, Sital. “CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING.” 2019. Thesis, University of New Hampshire. Accessed March 04, 2021.
https://scholars.unh.edu/thesis/1276.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Khatiwada, Sital. “CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING.” 2019. Web. 04 Mar 2021.
Vancouver:
Khatiwada S. CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING. [Internet] [Thesis]. University of New Hampshire; 2019. [cited 2021 Mar 04].
Available from: https://scholars.unh.edu/thesis/1276.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Khatiwada S. CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A
DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING. [Thesis]. University of New Hampshire; 2019. Available from: https://scholars.unh.edu/thesis/1276
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Delft University of Technology
18.
Dally, Killian (author).
Deep Reinforcement Learning for Flight Control: Fault-Tolerant Control for the PH-LAB.
Degree: 2021, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:fcef2325-4c90-4276-8bfc-1e230724c68a
► Fault-tolerant flight control faces challenges as developing a model-based controller for each unexpected failure is unrealistic, and online learning methods can handle limited system complexity…
(more)
▼ Fault-tolerant flight control faces challenges as developing a model-based controller for each unexpected failure is unrealistic, and online learning methods can handle limited system complexity due to their low sample efficiency. In this research, a model-free coupled-dynamics flight controller for a jet aircraft able to withstand multiple failure types is proposed. An offline-trained cascaded Soft Actor-Critic Deep Reinforcement Learning controller is successful on highly coupled maneuvers, including high-bank coordinated climbing turns. The controller is robust to six unforeseen failure cases, including the rudder jammed at -15°, the aileron effectiveness reduced by 70%, a structural failure, icing and a backward c.g. shift as the response is stable and the climbing turn is completed successfully. Robustness to biased sensor noise, atmospheric disturbances, and to varying initial flight conditions and reference signal shapes is also demonstrated.
Aerospace Engineering | Control & Simulation
Advisors/Committee Members: van Kampen, E. (mentor), van Paassen, M.M. (graduation committee), Hulshoff, S.J. (graduation committee), Sun, B. (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Deep Reinforcement Learning; Fault Tolerant Control; Intelligent Flight Control; Machine Learning; Flight Control Systems
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APA (6th Edition):
Dally, K. (. (2021). Deep Reinforcement Learning for Flight Control: Fault-Tolerant Control for the PH-LAB. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:fcef2325-4c90-4276-8bfc-1e230724c68a
Chicago Manual of Style (16th Edition):
Dally, Killian (author). “Deep Reinforcement Learning for Flight Control: Fault-Tolerant Control for the PH-LAB.” 2021. Masters Thesis, Delft University of Technology. Accessed March 04, 2021.
http://resolver.tudelft.nl/uuid:fcef2325-4c90-4276-8bfc-1e230724c68a.
MLA Handbook (7th Edition):
Dally, Killian (author). “Deep Reinforcement Learning for Flight Control: Fault-Tolerant Control for the PH-LAB.” 2021. Web. 04 Mar 2021.
Vancouver:
Dally K(. Deep Reinforcement Learning for Flight Control: Fault-Tolerant Control for the PH-LAB. [Internet] [Masters thesis]. Delft University of Technology; 2021. [cited 2021 Mar 04].
Available from: http://resolver.tudelft.nl/uuid:fcef2325-4c90-4276-8bfc-1e230724c68a.
Council of Science Editors:
Dally K(. Deep Reinforcement Learning for Flight Control: Fault-Tolerant Control for the PH-LAB. [Masters Thesis]. Delft University of Technology; 2021. Available from: http://resolver.tudelft.nl/uuid:fcef2325-4c90-4276-8bfc-1e230724c68a
University of Waterloo
19.
Barrios, Fernando Andre.
Development of a Control System for an Urban Electric Vehicle Compatible with Autonomous Driving Features.
Degree: 2020, University of Waterloo
URL: http://hdl.handle.net/10012/15441
► As cities continue to grow, the roads only become more congested, leading drivers to spend more time commuting, while vehicle accidents continue to rise. The…
(more)
▼ As cities continue to grow, the roads only become more congested, leading drivers to spend more time commuting, while vehicle accidents continue to rise. The Mechatronics Vehicle Systems Laboratory has developed its own urban electric vehicle in an attempt to combat congestion, as well as pollution concerns in urban areas. The focus of these thesis is a fault tolerant control system to improve the robustness of the vehicle, as well as allow for future autonomous vehicle functions to be tested on it.
The development of the control system began with deriving the requirements from the vehicle’s hardware, the goal of the project and foreseeable changes in the future. From there, the processors were selected, electronic control units were ordered, the vehicle’s necessarily electrical connections were completed, and the control software was deigned. Once every part of the project was completed, the control system was integrated, and testing was completed at the university.
The goal of the control software was to allow the vehicle to be drivable if a motor, motor controller or steering actuator failed due to an electrical, mechanical or feedback fault. Due to the vehicle’s modular design it allowed other components to compensate for failures, while maintaining vehicle controllability and predictable vehicle dynamics. Furthermore, the control system allows for autonomous vehicle functions to be added and tested on the vehicle. This was tested through the addition of a lane following models, along with the control system’s path following function.
The developed control system was shown to improve vehicle controllability when faults occurred, as well as allowed lane following to work effectively with the system structure and communication channels chosen. Overall, validating the design as well as allowing future mechanical designs or autonomous functions to be tested on the vehicle.
Subjects/Keywords: Electric Vehicle; Fault Tolerant Control; Autonomous Vehicle; Urban Vehicle; Vehicle Control System
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APA (6th Edition):
Barrios, F. A. (2020). Development of a Control System for an Urban Electric Vehicle Compatible with Autonomous Driving Features. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/15441
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Barrios, Fernando Andre. “Development of a Control System for an Urban Electric Vehicle Compatible with Autonomous Driving Features.” 2020. Thesis, University of Waterloo. Accessed March 04, 2021.
http://hdl.handle.net/10012/15441.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Barrios, Fernando Andre. “Development of a Control System for an Urban Electric Vehicle Compatible with Autonomous Driving Features.” 2020. Web. 04 Mar 2021.
Vancouver:
Barrios FA. Development of a Control System for an Urban Electric Vehicle Compatible with Autonomous Driving Features. [Internet] [Thesis]. University of Waterloo; 2020. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/10012/15441.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Barrios FA. Development of a Control System for an Urban Electric Vehicle Compatible with Autonomous Driving Features. [Thesis]. University of Waterloo; 2020. Available from: http://hdl.handle.net/10012/15441
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Toronto
20.
Jin, Xu.
Adaptive Fault Tolerant Control for Nonlinear Systems with Constraints.
Degree: 2015, University of Toronto
URL: http://hdl.handle.net/1807/69654
► In this thesis, fault tolerant control (FTC) design for nonlinear systems with input and output/state constraints are studied. To handle the input constraints, auxiliary systems…
(more)
▼ In this thesis, fault tolerant control (FTC) design for nonlinear systems with input and output/state constraints are studied. To handle the input constraints, auxiliary systems are integrated with the controller. To deal with output constraints, Barrier Lyapunov Functions (BLFs) are used. When state constraints are in force, command filters are used in conjunction with BLFs. A novel adaptive fault tolerant cooperative tracking control (AFTCTC) scheme is developed for a class of input and output constrained nonlinear multiagent systems. Exponential convergence of the cooperative output tracking error into a small set around zero is guaranteed, while the constraints on the output will not be violated. The results are then extended to the design of a novel adaptive fault tolerant control (AFTC) scheme for a class of input and state constrained multi-input-multi-output (MIMO) nonlinear systems, where the constraints on the system state will not be violated.
M.A.S.
Advisors/Committee Members: Kwong, Raymond, Electrical and Computer Engineering.
Subjects/Keywords: Adaptive control; Fault tolerant control; Input constraints; Nonlinear systems; State constraints; 0790
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Manager
APA (6th Edition):
Jin, X. (2015). Adaptive Fault Tolerant Control for Nonlinear Systems with Constraints. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/69654
Chicago Manual of Style (16th Edition):
Jin, Xu. “Adaptive Fault Tolerant Control for Nonlinear Systems with Constraints.” 2015. Masters Thesis, University of Toronto. Accessed March 04, 2021.
http://hdl.handle.net/1807/69654.
MLA Handbook (7th Edition):
Jin, Xu. “Adaptive Fault Tolerant Control for Nonlinear Systems with Constraints.” 2015. Web. 04 Mar 2021.
Vancouver:
Jin X. Adaptive Fault Tolerant Control for Nonlinear Systems with Constraints. [Internet] [Masters thesis]. University of Toronto; 2015. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/1807/69654.
Council of Science Editors:
Jin X. Adaptive Fault Tolerant Control for Nonlinear Systems with Constraints. [Masters Thesis]. University of Toronto; 2015. Available from: http://hdl.handle.net/1807/69654
Universitat Politècnica de Catalunya
21.
Xu, Feng.
Diagnosis and fault-tolerant control using set-based methods.
Degree: 2014, Universitat Politècnica de Catalunya
URL: http://hdl.handle.net/10803/284831
► La capacidad de los sistemas para tolerar fallos es una importante especificación de desempeño para la mayoría de sistemas. Ejemplos que muestran su importancia son…
(more)
▼ La capacidad de los sistemas para tolerar fallos es una importante especificación de desempeño para la mayoría de sistemas. Ejemplos que muestran su importancia son algunas catástrofes en aviación civil. De acuerdo a investigaciones oficiales, algunos incidentes aéreos son técnicamente evitables si los pilotos pudiesen tomar las medidas adecuadas. Aun así, basándose en las habilidades y experiencia de los pilotos, no se puede garantizar que decisiones de vuelo confiables serán siempre posible de tomar. En cambio, si estrategias de tolerancia a fallos se pudieran incluir en el proceso de toma de decisión, los vuelos serían mucho más seguros. El
control tolerante a fallos es generalmente clasificado en
control pasivo y activo. El
control pasivo se basa en la robustez del controlador, el cual sólo provee una habilidad limitada de tolerancia a fallos, mientras que el
control tolerante a fallos de tipo activo se convierte en un modulo de detección y aislamiento de fallos que permite obtener información de éstos, y luego, activamente, tomar acciones para tolerar el efecto de dichos fallos. Así pues, el
control activo generalmente tiene habilidades más fuertes de tolerancia a fallos. Esta tesis se enfoca en
control tolerante a fallos activo, para lo cual considera el
control predictivo basado en modelos y la detección y aislamiento de fallos basados en conjuntos. El
control predictivo basado en modelos es una estrategia de
control exitosa en la industria de procesos y ha sido ampliamente utilizada para procesos químicos y tratamiento de aguas, debido a su habilidad de tratar con sistemas multivariables con restricciones. A pesar de esto, el desempeño del
control predictivo basado en modelos tiene una profunda dependencia de la precisión del modelo del sistema. Siendo realistas, es imposible evitar el efecto de errores de modelado, perturbaciones, ruidos y fallos, que siempre llevan a diferencias entre el modelo y el sistema real. Comparativamente, el error de modelo inducido por los fallos es posible de ser manejado efectivamente por estrategias adecuadas de
control tolerante a fallos. Con el fin de alcanzar este objetivo, métodos de detección y aislamiento de fallos basados en conjuntos son utilizados en los esquemas de tolerancia a fallos propuestos en esta tesis. La ventaja importante de estas técnicas de detección y aislamiento de fallos basadas en conjuntos es que puede tomar decisiones robustas de detección y aislamiento, lo cual es clave para tomar medidas acertadas de tolerancia a fallos. Esta tesis esta dividida en cuatro partes. La primera parte es introductoria, presenta el estado del arte y hace una introducción a las herramientas de investigación utilizadas. La segunda parte expone la detección y aislamiento de fallos en actuadores y/o sensores, basándose en teoría de conjuntos, a partir de observadores de intervalo, y conjuntos invariantes. La tercera parte se enfoca en el
control predictivo robusto (con enfoques basados tanto en tubos robustos como en min-max) con tolerancia a fallos en actuadores y/o…
Advisors/Committee Members: Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials, [email protected] (authoremail), false (authoremailshow), Puig Cayuela, Vicenç (director), Ocampo-Martínez, Carlos (codirector), true (authorsendemail).
Subjects/Keywords: Fault detection and isolation; Fault-tolerant control; Model predictive control; Invariant sets; Interval observers; Zonotopes; 68
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APA ·
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APA (6th Edition):
Xu, F. (2014). Diagnosis and fault-tolerant control using set-based methods. (Thesis). Universitat Politècnica de Catalunya. Retrieved from http://hdl.handle.net/10803/284831
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Xu, Feng. “Diagnosis and fault-tolerant control using set-based methods.” 2014. Thesis, Universitat Politècnica de Catalunya. Accessed March 04, 2021.
http://hdl.handle.net/10803/284831.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Xu, Feng. “Diagnosis and fault-tolerant control using set-based methods.” 2014. Web. 04 Mar 2021.
Vancouver:
Xu F. Diagnosis and fault-tolerant control using set-based methods. [Internet] [Thesis]. Universitat Politècnica de Catalunya; 2014. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/10803/284831.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Xu F. Diagnosis and fault-tolerant control using set-based methods. [Thesis]. Universitat Politècnica de Catalunya; 2014. Available from: http://hdl.handle.net/10803/284831
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Minnesota
22.
Venkataraman, Raghu.
Fault-Tolerant Flight Control Using One Aerodynamic Control Surface.
Degree: PhD, Aerospace Engineering and Mechanics, 2018, University of Minnesota
URL: http://hdl.handle.net/11299/206355
► Small unmanned aircraft systems (UAS) have recently found increasing civilian and commercial applications. On-board fault management is one of several technical challenges facing their widespread…
(more)
▼ Small unmanned aircraft systems (UAS) have recently found increasing civilian and commercial applications. On-board fault management is one of several technical challenges facing their widespread use. The aerodynamic control surfaces of a fixed-wing UAS perform the safety-critical functions of stabilizing and controlling the aircraft. Failures in one or more of these surfaces, or the actuators controlling them, may be managed by repurposing the other control surfaces and/or propulsive devices. A natural question arises in this context: What is the minimum number of control surfaces required to adequately control a handicapped aircraft? The answer, in general, depends on the control surface layout of the aircraft under consideration. For some aircraft, however, the answer is one. If the UAS is equipped with only two control surfaces, such as the one considered in this thesis, then this limiting case is reached with a single control surface failure. This thesis demonstrates, via multiple flight tests, the autonomous landing of a UAS using only one aerodynamic control surface and the throttle. In seeking to arrive at these demonstrations, this thesis makes advances in the areas of model-based fault diagnosis and fault-tolerant control. Specifically, a new convex method is developed for synthesizing robust output estimators for continuous-time, uncertain, gridded, linear parameter-varying systems. This method is subsequently used to design the fault diagnosis algorithm. The detection time requirement of this algorithm is established using concepts from loss-of-control. The fault-tolerant controller is designed to operate the single control surface for lateral control and the throttle for total energy control. The fault diagnosis algorithm and the fault-tolerant controller are both designed using a model of the aircraft. This model is first developed using physics-based first-principles and then updated using system identification experiments. Since this aircraft does not have a rudder, the identification of the lateral-directional dynamics requires some novelty.
Subjects/Keywords: fault diagnosis; fault tolerant control; flight dynamics and control; flight test; system identification; unmanned aircraft systems
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APA ·
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APA (6th Edition):
Venkataraman, R. (2018). Fault-Tolerant Flight Control Using One Aerodynamic Control Surface. (Doctoral Dissertation). University of Minnesota. Retrieved from http://hdl.handle.net/11299/206355
Chicago Manual of Style (16th Edition):
Venkataraman, Raghu. “Fault-Tolerant Flight Control Using One Aerodynamic Control Surface.” 2018. Doctoral Dissertation, University of Minnesota. Accessed March 04, 2021.
http://hdl.handle.net/11299/206355.
MLA Handbook (7th Edition):
Venkataraman, Raghu. “Fault-Tolerant Flight Control Using One Aerodynamic Control Surface.” 2018. Web. 04 Mar 2021.
Vancouver:
Venkataraman R. Fault-Tolerant Flight Control Using One Aerodynamic Control Surface. [Internet] [Doctoral dissertation]. University of Minnesota; 2018. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/11299/206355.
Council of Science Editors:
Venkataraman R. Fault-Tolerant Flight Control Using One Aerodynamic Control Surface. [Doctoral Dissertation]. University of Minnesota; 2018. Available from: http://hdl.handle.net/11299/206355
McMaster University
23.
Du, Miao.
FAULT DIAGNOSIS AND FAULT-TOLERANT CONTROL OF CHEMICAL PROCESS SYSTEMS.
Degree: PhD, 2012, McMaster University
URL: http://hdl.handle.net/11375/12504
► This thesis considers the problem of fault diagnosis and fault-tolerant control (FTC) for chemical process systems with nonlinear dynamics. The primary objective of fault…
(more)
▼ This thesis considers the problem of fault diagnosis and fault-tolerant control (FTC) for chemical process systems with nonlinear dynamics. The primary objective of fault diagnosis discussed in this work is to identify the failed actuator or sensor by using the information embodied in a process model, as well as input and output data. To this end, an active fault isolation method is first proposed to identify actuator faults and process disturbances by utilizing control action and process nonlinearity. The key idea is to move the process to a region upon fault detection where the effect of each fault can be differentiated from others. The proposed method enables isolation of faults that may not be achievable under nominal operation. This work then investigates the problem of sensor fault isolation by exploiting model-based sensor redundancy through state observer design. Specifically, a high-gain observer is presented and the stability property of the closed-loop system is rigorously established. A method that uses a bank of high-gain observers is then proposed to isolate sensor faults, which explicitly accounts for process nonlinearity, and to continue nominal operation upon fault isolation. In addition to fault diagnosis, this work addresses the problem of handling severe actuator faults using a safe-parking approach and integrating fault diagnosis and safe-parking techniques in a unified fault-handling framework. In particular, several practical issues are considered for the design and implementation of safe-parking techniques, including changes in process dynamics, the network structure of a chemical plant, and actuators frozen at arbitrary positions. The advantage of this approach is that it enables stable process operation under faulty conditions, avoiding the partial or entire shutdown of a chemical plant and resulting economic losses. The efficacy of the proposed fault diagnosis and FTC methods is demonstrated through numerous simulations of chemical process examples.
Doctor of Philosophy (PhD)
Advisors/Committee Members: Mhaskar, Prashant, Chemical Engineering.
Subjects/Keywords: Nonlinear systems; fault detection and isolation; fault diagnosis; fault-tolerant control; high-gain observers; output feedback control; Process Control and Systems; Process Control and Systems
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APA ·
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APA (6th Edition):
Du, M. (2012). FAULT DIAGNOSIS AND FAULT-TOLERANT CONTROL OF CHEMICAL PROCESS SYSTEMS. (Doctoral Dissertation). McMaster University. Retrieved from http://hdl.handle.net/11375/12504
Chicago Manual of Style (16th Edition):
Du, Miao. “FAULT DIAGNOSIS AND FAULT-TOLERANT CONTROL OF CHEMICAL PROCESS SYSTEMS.” 2012. Doctoral Dissertation, McMaster University. Accessed March 04, 2021.
http://hdl.handle.net/11375/12504.
MLA Handbook (7th Edition):
Du, Miao. “FAULT DIAGNOSIS AND FAULT-TOLERANT CONTROL OF CHEMICAL PROCESS SYSTEMS.” 2012. Web. 04 Mar 2021.
Vancouver:
Du M. FAULT DIAGNOSIS AND FAULT-TOLERANT CONTROL OF CHEMICAL PROCESS SYSTEMS. [Internet] [Doctoral dissertation]. McMaster University; 2012. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/11375/12504.
Council of Science Editors:
Du M. FAULT DIAGNOSIS AND FAULT-TOLERANT CONTROL OF CHEMICAL PROCESS SYSTEMS. [Doctoral Dissertation]. McMaster University; 2012. Available from: http://hdl.handle.net/11375/12504
NSYSU
24.
Ke, Yi-Ju.
Critical Signature Assertion and On-the-Fly Recovery for Control Flow Errors in Processors.
Degree: Master, Computer Science and Engineering, 2018, NSYSU
URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0402118-084552
► For the real-time systems, the error detection and recovery of the transient fault have become an important issue to improve the reliability. In previous works,…
(more)
▼ For the real-time systems, the error detection and recovery of the transient
fault have become an important issue to improve the reliability. In previous works, in order to detect the
control flow error, and recovery the data error caused by
control flow error (CFE), they will check signatures, and set a checkpoint to make a complete backup of the data in each basic block. However, frequent checks and data backups complete, which can reduce performance. On the other hand, after an error occurs, itâs not necessary to have performance overhead on recovery the data from checkpoint storage to registers.
The proposed technique has three main ideas. First, through sensitivity analysis result, it only does a critical signature assertion for the basic blocks which have a higher probability of the CFE. Second, in checkpoint phase, it only backs up the registers which might have the data corruption for a checkpoint. Third, in the recovery phase, it will read the checkpoint value from checkpoint storage for execution directly. In experiment results, the proposed technique has a significant decrease in memory overhead of additional instruction about 2.4 times and less performance overhead of additional execution about 11.9 times at most. It also shows the difference in error correction latency about 20 cycle times in the best case, but it has lower
fault coverage about 1.5%.
Advisors/Committee Members: Ing-Jer Huang (committee member), Shi-Wu Lo (chair), Tong-Yu Hsieh (chair), Chung-Ho Chen (chair), Fu-Ching Yang (chair).
Subjects/Keywords: Microprocessor; Fault-Tolerant; Signature; Checkpoint and Recovery; Data Error; Control Flow Error
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APA (6th Edition):
Ke, Y. (2018). Critical Signature Assertion and On-the-Fly Recovery for Control Flow Errors in Processors. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0402118-084552
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Ke, Yi-Ju. “Critical Signature Assertion and On-the-Fly Recovery for Control Flow Errors in Processors.” 2018. Thesis, NSYSU. Accessed March 04, 2021.
http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0402118-084552.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Ke, Yi-Ju. “Critical Signature Assertion and On-the-Fly Recovery for Control Flow Errors in Processors.” 2018. Web. 04 Mar 2021.
Vancouver:
Ke Y. Critical Signature Assertion and On-the-Fly Recovery for Control Flow Errors in Processors. [Internet] [Thesis]. NSYSU; 2018. [cited 2021 Mar 04].
Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0402118-084552.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Ke Y. Critical Signature Assertion and On-the-Fly Recovery for Control Flow Errors in Processors. [Thesis]. NSYSU; 2018. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0402118-084552
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Newcastle
25.
Nazari Ziabari, Seyedeh Raheleh.
Fault tolerant control of systems with convex polytopic uncertainty and LPV description.
Degree: PhD, 2016, University of Newcastle
URL: http://hdl.handle.net/1959.13/1314590
► Research Doctorate - Doctor of Philosophy (PhD)
This thesis aims at developing new methodologies in analysis and design of FTC for systems with model uncertainties.…
(more)
▼ Research Doctorate - Doctor of Philosophy (PhD)
This thesis aims at developing new methodologies in analysis and design of FTC for systems with model uncertainties. The proposed robust FTC schemes guarantee robust stability of the integrated system in the entire uncertainty domain in the presence of unknown bounded noises and disturbances under a wide range of sensor or actuator fault scenarios. The FTC designs proposed in this thesis integrate set-based fault detection and isolation [FDI] mechanisms with controller reconfiguration [CR] modules based on virtual sensors and virtual actuators. The proposed FDI principle in this work is based on the computation of sets to which appropriately defined residual variables move or converge both under faulty and healthy operation. We first present a strategy for the problem of sensor FTC of linear time invariant (LTI) systems with disturbances but no other model uncertainties. As mentioned above, the strategy combines a set-based FDI technique and the virtual sensor approach to CR. This complements an existing similar technique using virtual actuators for the dual problem of actuator faults in perturbed LTI systems. In the next step, we study the FTC design for systems with structured model uncertainties, where the uncertainty model can be described by an element – e.g. components of a system matrix in the state-space realisation – lying in some pre-specified uncertainty set. Among structured uncertainty models, we focus on convex polytopic model uncertainties both for the cases where its polytopic property is the only information available on the uncertainty and for the case of Linear Parameter Varying [LPV] model description, where the uncertainty is assumed to be described as a function of a measurable time-varying parameter. The LPV description can be used in modelling a wide range of non-linear systems and hence has received major attention from the identification and control research community. In this research we extend the invariant-set based FDI and the virtual sensor based methodology to the systems with polytopic LPV model description. We show that by employing self-scheduling parameters in fault tolerant control design, where the parameters of the control system and the virtual sensor are scheduled in real time according to the current value of the varying parameter, the robust stability of the integrated closed-loop system under some assumptions is guaranteed. The robust FDI technique proposed for LPV systems is based on the separation of relevant sets defined for measurable residual signals, which are computed using the virtual sensors and taking into account system disturbances and model uncertainty. To develop a robust FTC scheme for systems with convex polytopic uncertainties where the uncertainty is not a function of a measurable parameter, the use of scheduled control is no longer possible. Hence, the controller and the virtual sensor are designed for the centre of the uncertainty polytope, which inevitably introduces an error in the controller reconfiguration.…
Advisors/Committee Members: University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science.
Subjects/Keywords: FTC; fault tolerant control; virtual sensor; virtual actuator; uncertainty; controller reconfiguration; MAGLEV; thesis by publication
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APA (6th Edition):
Nazari Ziabari, S. R. (2016). Fault tolerant control of systems with convex polytopic uncertainty and LPV description. (Doctoral Dissertation). University of Newcastle. Retrieved from http://hdl.handle.net/1959.13/1314590
Chicago Manual of Style (16th Edition):
Nazari Ziabari, Seyedeh Raheleh. “Fault tolerant control of systems with convex polytopic uncertainty and LPV description.” 2016. Doctoral Dissertation, University of Newcastle. Accessed March 04, 2021.
http://hdl.handle.net/1959.13/1314590.
MLA Handbook (7th Edition):
Nazari Ziabari, Seyedeh Raheleh. “Fault tolerant control of systems with convex polytopic uncertainty and LPV description.” 2016. Web. 04 Mar 2021.
Vancouver:
Nazari Ziabari SR. Fault tolerant control of systems with convex polytopic uncertainty and LPV description. [Internet] [Doctoral dissertation]. University of Newcastle; 2016. [cited 2021 Mar 04].
Available from: http://hdl.handle.net/1959.13/1314590.
Council of Science Editors:
Nazari Ziabari SR. Fault tolerant control of systems with convex polytopic uncertainty and LPV description. [Doctoral Dissertation]. University of Newcastle; 2016. Available from: http://hdl.handle.net/1959.13/1314590
INP Toulouse
26.
Ben Abdelghani, Hafedh.
Étude, conception et réalisation d'un convertisseur statique hybride multiniveaux tolérant aux défauts : Study, design and of a fault tolerant hybrid multilevel converter.
Degree: Docteur es, Génie électrique, 2016, INP Toulouse
URL: http://www.theses.fr/2016INPT0042
► Vu l’importance que revêt la sûreté de fonctionnement des convertisseurs statiques dans plusieurs domaines (traction électrique, génération de l’énergie électrique à partir de l’énergie éolienne,…
(more)
▼ Vu l’importance que revêt la sûreté de fonctionnement des convertisseurs statiques dans plusieurs domaines (traction électrique, génération de l’énergie électrique à partir de l’énergie éolienne, etc,... ), il est nécessaire d'examiner la continuité de service de ces systèmes même dans le cas d’un dysfonctionnement d’un des modules IGBT, d’un bras de l’onduleur ou d'une phase de machine. Ainsi, il est indispensable de concevoir de nouvelles architectures matérielles et commandes logicielles capables de fonctionner à puissance significative même en présence de défaillance touchant le système et plus particulièrement les modules IGBT de l’onduleur. Le sujet proposé s’intéresse à une nouvelle structure hybride multiniveaux tolérante aux défauts. Elle consiste à ajouter à un convertisseur triphasé 3-niveaux type NPC (Neutral Point Clamped), un quatrième bras 3-niveaux types FC (Flying Cap). Des nouvelles techniques des différentes parties de la tolérance des pannes, à savoir la détection, l’isolation, la reconfiguration matérielle et la commande en mode dégradé, sont proposées, analysées et validées sur un prototype expérimental de 15kW de puissance.
Given the importance of power converter safety operation in several fields (electric traction, renewable energy, etc ..), it is necessary to examine availability of these systems in the case of malfunction of an IGBT module, a converter leg or a phase machine. Thus, it is essential to develop new hardware architectures and software controls capable of operating at significant power after fault occurence. This thesis deals with a new multilevel fault tolerant hybrid topology. It consists on adding to a 3-phase 3-level NPC (Neutral Point Clamped) inverter, a fourth 3-level FC (Flying Cap) leg. New techniques of fault tolerance parts, namely detection, isolation, reconfiguration and system control during post fault mode, are proposed, analyzed and validated with a 15kW experimental converter prototype.
Advisors/Committee Members: Richardeau, Frédéric (thesis director), Slama-Belkhodja, Ilhem (thesis director).
Subjects/Keywords: Convertisseur multiniveaux; Reconfiguration; Commande Tolérante aux défauts; Multilevel converter; Reconfiguration; Fault tolerant control
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APA ·
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APA (6th Edition):
Ben Abdelghani, H. (2016). Étude, conception et réalisation d'un convertisseur statique hybride multiniveaux tolérant aux défauts : Study, design and of a fault tolerant hybrid multilevel converter. (Doctoral Dissertation). INP Toulouse. Retrieved from http://www.theses.fr/2016INPT0042
Chicago Manual of Style (16th Edition):
Ben Abdelghani, Hafedh. “Étude, conception et réalisation d'un convertisseur statique hybride multiniveaux tolérant aux défauts : Study, design and of a fault tolerant hybrid multilevel converter.” 2016. Doctoral Dissertation, INP Toulouse. Accessed March 04, 2021.
http://www.theses.fr/2016INPT0042.
MLA Handbook (7th Edition):
Ben Abdelghani, Hafedh. “Étude, conception et réalisation d'un convertisseur statique hybride multiniveaux tolérant aux défauts : Study, design and of a fault tolerant hybrid multilevel converter.” 2016. Web. 04 Mar 2021.
Vancouver:
Ben Abdelghani H. Étude, conception et réalisation d'un convertisseur statique hybride multiniveaux tolérant aux défauts : Study, design and of a fault tolerant hybrid multilevel converter. [Internet] [Doctoral dissertation]. INP Toulouse; 2016. [cited 2021 Mar 04].
Available from: http://www.theses.fr/2016INPT0042.
Council of Science Editors:
Ben Abdelghani H. Étude, conception et réalisation d'un convertisseur statique hybride multiniveaux tolérant aux défauts : Study, design and of a fault tolerant hybrid multilevel converter. [Doctoral Dissertation]. INP Toulouse; 2016. Available from: http://www.theses.fr/2016INPT0042
Delft University of Technology
27.
Tang, S.H. (author).
Fault-Tolerant Flight Control with Sensor-Based Nonlinear Dynamic Inversion.
Degree: 2014, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:c2263beb-602b-4727-9219-43cd11325622
► A worldwide civil aviation accident survey for the period of 2002 till 2011, conducted by the CAA-UK shows that in this time period nearly 40%…
(more)
▼ A worldwide civil aviation accident survey for the period of 2002 till 2011, conducted by the CAA-UK shows that in this time period nearly 40% of all the aircraft accidents involved loss of control. Despite the fatal outcomes, reconfigurable flight control might have been able to recover the aircraft by efficiently utilizing the remaining control inputs. This research focuses on the application and the evaluation of a model-independent fault-tolerant Sensor-Based Nonlinear Dynamic Inversion NDI (SB-NDI) attitude rate controller. The inner loop of this controller incorporates Hovakimyan’s Approximate Dynamic Inversion controller within the NDI framework in combination with Lyapunov stability, making the controller fully model independent. The inner loop of the controller is complemented with an NDI-based outer loop in order to control the attitude rates. The fault-tolerant capabilities of the designed controller are evaluated with a proof-of-concept flight simulation in the SIMONA Research Simulator. The results of this evaluation indicate that the designed multi-loop SB-NDI controller is not only capable of extending the survivability of the aircraft when compared with a conventional NDI attitude rate controller with a fixed aerodynamic model, it also indicates that it requires a similar physical effort for a post-failure aircraft as an aircraft without failures.
Control and Simulation; Guidance Navigation and Control
Control and Operations
Aerospace Engineering
Advisors/Committee Members: Chu, Q.P. (mentor), De Visser, C. (mentor), Pool, D.M. (mentor), Stroosma, O. (mentor).
Subjects/Keywords: fault-tolerant; flight control; piloted simulation; model-independent; backstepping; nonlinear dynamic inversion; NDI; sensor-based
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APA (6th Edition):
Tang, S. H. (. (2014). Fault-Tolerant Flight Control with Sensor-Based Nonlinear Dynamic Inversion. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:c2263beb-602b-4727-9219-43cd11325622
Chicago Manual of Style (16th Edition):
Tang, S H (author). “Fault-Tolerant Flight Control with Sensor-Based Nonlinear Dynamic Inversion.” 2014. Masters Thesis, Delft University of Technology. Accessed March 04, 2021.
http://resolver.tudelft.nl/uuid:c2263beb-602b-4727-9219-43cd11325622.
MLA Handbook (7th Edition):
Tang, S H (author). “Fault-Tolerant Flight Control with Sensor-Based Nonlinear Dynamic Inversion.” 2014. Web. 04 Mar 2021.
Vancouver:
Tang SH(. Fault-Tolerant Flight Control with Sensor-Based Nonlinear Dynamic Inversion. [Internet] [Masters thesis]. Delft University of Technology; 2014. [cited 2021 Mar 04].
Available from: http://resolver.tudelft.nl/uuid:c2263beb-602b-4727-9219-43cd11325622.
Council of Science Editors:
Tang SH(. Fault-Tolerant Flight Control with Sensor-Based Nonlinear Dynamic Inversion. [Masters Thesis]. Delft University of Technology; 2014. Available from: http://resolver.tudelft.nl/uuid:c2263beb-602b-4727-9219-43cd11325622
Michigan State University
28.
Chen, Jingshu.
Automatic verification and revision of multitolerant programs.
Degree: 2013, Michigan State University
URL: http://etd.lib.msu.edu/islandora/object/etd:2070
► Thesis Ph. D. Michigan State University. Computer Science 2013.
The notion of multitolerance is based on the observation that modern programs are often subject to…
(more)
▼ Thesis Ph. D. Michigan State University. Computer Science 2013.
The notion of multitolerance is based on the observation that modern programs are often subject to multiple faults. And, the requirements in the presence of these faults vary based on the nature of the faults, its severity and the cost of providing fault-tolerance to it. Also, assurance of multitolerant systems is necessary via they are integral parts of our lives. This dissertation proposes to provide such assurance via automated verification and revision.Regarding verification, we focus on verification of self-stabilization, which is the ability of the program to recover from arbitrary states. We consider verification of self-stabilization because several multitolerant systems are indeed stabilizing. Also, most of literature on verification of fault-tolerance focuses on safety property; our work complements it by considering liveness properties. Hence, we envision verification of multitolerant programs by using existing approaches for verifying safety and using the results from this dissertation for verifying liveness. We propose a technique that is based on a bottleneck (fairness requirements) identified in existing work on verification of stabilization. Our approach uses the role of fairness along with symbolic model checking, and hence reduces the cost of verification substantially. We also propose a constraint-based approach that reduces the task of verifying self-stabilization into a well-studied problem of constraint solving, so that one can leverage the use of existing highly optimized solutions (SAT/SMT solvers) to reduce the verification cost.Regarding revision, we focus on revising existing programs to obtain the corresponding multitolerant ones. Revising the program manually is expensive since it requires additional verification steps to guarantee correctness. Also, manual revision may violate existing requirements. For these reasons, we propose an automatic approach to revise a given program to add multitolerance to the given class(es) of faults. Specifically, we characterize multitolerance in terms of strong multitolerance and weak multitolerance. Intuitively, strong multitolerance provides higher guarantees than weak multitolerance. However, there are scenarios where designing a strong multitolerant program is expensive or impossible although designing weak multitolerance is feasible. We investigate the complexity of automatic revision for adding multitolerance. In particular, we identify instances where adding weak multitolerance is NP-hard even though adding strong multitolerance in the same setting in P. We also develop algorithms (and heuristics) for automatic revision for adding multitolerance to existing programs. We implement these algorithms in a model repair tool for automatically adding multitolerance. Additionally, we build a lightweight framework that utilizes our model repair tool for automatically revising UML state diagram for adding fault-tolerance. This framework has several practical and methodological significance…
Advisors/Committee Members: Kulkarni, Sandeep, Dillon, Laura, Esfahanian, Abdol-Hossein, Kulkarni, Rajesh.
Subjects/Keywords: Computer programs; Computer programs – Verification; Fault-tolerant computing; Revision control (Computer science); Computer science
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APA (6th Edition):
Chen, J. (2013). Automatic verification and revision of multitolerant programs. (Thesis). Michigan State University. Retrieved from http://etd.lib.msu.edu/islandora/object/etd:2070
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Chen, Jingshu. “Automatic verification and revision of multitolerant programs.” 2013. Thesis, Michigan State University. Accessed March 04, 2021.
http://etd.lib.msu.edu/islandora/object/etd:2070.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Chen, Jingshu. “Automatic verification and revision of multitolerant programs.” 2013. Web. 04 Mar 2021.
Vancouver:
Chen J. Automatic verification and revision of multitolerant programs. [Internet] [Thesis]. Michigan State University; 2013. [cited 2021 Mar 04].
Available from: http://etd.lib.msu.edu/islandora/object/etd:2070.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Chen J. Automatic verification and revision of multitolerant programs. [Thesis]. Michigan State University; 2013. Available from: http://etd.lib.msu.edu/islandora/object/etd:2070
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Wright State University
29.
Gilson, Maximillian Andrew.
Fault-tolerant mapping and localization for Quadrotor
UAV.
Degree: MSEE, Electrical Engineering, 2019, Wright State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435
► This research aims to accomplish three main tasks for a quadrotor UAV with mapping andnavigation capabilities. Firstly, a Simultaneous Localization and Mapping (SLAM) system isdeveloped…
(more)
▼ This research aims to accomplish three main tasks for
a quadrotor UAV with mapping andnavigation capabilities. Firstly, a
Simultaneous Localization and Mapping (SLAM) system isdeveloped
utilizing a laser rangefinder an open source SLAM algorithm called
GMapping. Thissystem allows for mapping of the surrounding
environment as well as localizing the position ofthe quadrotor,
enabling position
control. Secondly, several path planning
algorithms wereimplemented and evaluated. This allows the quadrotor
to navigate through the environment evenin the presence of
obstacles. Lastly, to compensate for possible faults in the
SLAMmeasurements, a
fault-
tolerant control method is developed.
Real-time experimental results haveshown the effectiveness of the
algorithms.
Advisors/Committee Members: Zhang, Xiaodong (Advisor).
Subjects/Keywords: Electrical Engineering; fault-tolerant control; quadrotor; uav; SLAM; mav; uas; path planning; machine learning reinforcement
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APA (6th Edition):
Gilson, M. A. (2019). Fault-tolerant mapping and localization for Quadrotor
UAV. (Masters Thesis). Wright State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435
Chicago Manual of Style (16th Edition):
Gilson, Maximillian Andrew. “Fault-tolerant mapping and localization for Quadrotor
UAV.” 2019. Masters Thesis, Wright State University. Accessed March 04, 2021.
http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435.
MLA Handbook (7th Edition):
Gilson, Maximillian Andrew. “Fault-tolerant mapping and localization for Quadrotor
UAV.” 2019. Web. 04 Mar 2021.
Vancouver:
Gilson MA. Fault-tolerant mapping and localization for Quadrotor
UAV. [Internet] [Masters thesis]. Wright State University; 2019. [cited 2021 Mar 04].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435.
Council of Science Editors:
Gilson MA. Fault-tolerant mapping and localization for Quadrotor
UAV. [Masters Thesis]. Wright State University; 2019. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435
University of Central Florida
30.
Shen, He.
bio-inspired attitude control of micro air vehicles using rich information from airflow sensors.
Degree: 2014, University of Central Florida
URL: https://stars.library.ucf.edu/etd/1306
► Biological phenomena found in nature can be learned and customized to obtain innovative engineering solutions. In recent years, biologists found that birds and bats use…
(more)
▼ Biological phenomena found in nature can be learned and customized to obtain innovative engineering solutions. In recent years, biologists found that birds and bats use their mechanoreceptors to sense the airflow information and use this information directly to achieve their agile flight performance. Inspired by this phenomenon, an attitude
control system for micro air vehicles using rich amount of airflow sensor information is proposed, designed and tested. The dissertation discusses our research findings on this topic. First, we quantified the errors between the calculated and measured lift and moment profiles using a limited number of micro pressure sensors over a straight wing. Then, we designed a robust pitching controller using 20 micro pressure sensors and tested the closed-loop performance in a simulated environment. Additionally, a straight wing was designed for the pressure sensor based pitching
control with twelve pressure sensors, which was then tested in our low-speed wind tunnel. The closed-loop pitching
control system can track the commanded angle of attack with a rising time around two seconds and an overshoot around 10%. Third, we extended the idea to the three-axis attitude
control scenarios, where both of the pressure and shear stress information are considered in the simulation. Finally, a
fault tolerant controller with a guaranteed asymptotically stability is proposed to deal with sensor failures and calculation errors. The results show that the proposed
fault tolerant controller is robust, adaptive, and can guarantee an asymptotically stable performance even in case that 50% of the airflow sensors fail in flight.
Advisors/Committee Members: Xu, Yunjun.
Subjects/Keywords: Micro air vehicles; attitude control; airflow sensors; robust control; adaptive control; fault tolerant control; Engineering; Mechanical Engineering
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APA (6th Edition):
Shen, H. (2014). bio-inspired attitude control of micro air vehicles using rich information from airflow sensors. (Doctoral Dissertation). University of Central Florida. Retrieved from https://stars.library.ucf.edu/etd/1306
Chicago Manual of Style (16th Edition):
Shen, He. “bio-inspired attitude control of micro air vehicles using rich information from airflow sensors.” 2014. Doctoral Dissertation, University of Central Florida. Accessed March 04, 2021.
https://stars.library.ucf.edu/etd/1306.
MLA Handbook (7th Edition):
Shen, He. “bio-inspired attitude control of micro air vehicles using rich information from airflow sensors.” 2014. Web. 04 Mar 2021.
Vancouver:
Shen H. bio-inspired attitude control of micro air vehicles using rich information from airflow sensors. [Internet] [Doctoral dissertation]. University of Central Florida; 2014. [cited 2021 Mar 04].
Available from: https://stars.library.ucf.edu/etd/1306.
Council of Science Editors:
Shen H. bio-inspired attitude control of micro air vehicles using rich information from airflow sensors. [Doctoral Dissertation]. University of Central Florida; 2014. Available from: https://stars.library.ucf.edu/etd/1306
◁ [1] [2] [3] [4] [5] ▶
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Open Access Theses and Dissertations