Details

Autor(en) / Beteiligte

• De Dona, J.A.
• Seron, M.M.
• Yetendje, A.

Titel

Multisensor fusion fault-tolerant control with diagnosis via a set separation principle

Ist Teil von

• Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009, p.7825-7830

Ort / Verlag

IEEE

Erscheinungsjahr

2009

Quelle

IEEE Electronic Library Online

Beschreibungen/Notizen

• In this paper, a multisensor fusion fault-tolerant control system with fault detection and isolation via set separation is presented. The fault detection and isolation unit verifies that for each sensor-estimator combination, the estimation tracking errors lie inside pre-computed sets and discards faulty sensors when their associated estimation tracking errors leave the sets. An active fault tolerant controller is obtained, where the remaining healthy estimates are combined using a technique based on the optimal fusion criterion in the linear minimum-variance sense, recently proposed in the literature. The fused estimates are then used to implement a state feedback tracking controller. We ensure closed-loop stability and good performance under the occurrence of abrupt sensor faults.