A hybrid fault diagnosis and recovery for a team of unmanned vehicles

Abstract

In this paper, a hybrid fault detection, isolation, and recovery (FDIR) methodology is developed for a team of unmanned vehicles which takes advantage of the cooperative nature of the system to accomplish the desired mission in presence of failures. The proposed methodology is hybrid and consists of a low level (agent level) and a high level (team level) FDIR. The high level FDIR is formulated in the discrete-event system (DES) supervisory control framework, whereas the low level FDIR uses the classical control techniques. By properly integrating the two FDIR components, a larger class of faults can be detected and isolated when compared to results in the literature. A reconfiguration strategy is also designed so that the team is recovered from faults. Simulation results are provided to elucidate the efficacy of the proposed approach.

A survey of formation control and motion planning of multiple unmanned vehicles

“…However, this aspect is generally ignored by much of the research work accomplished thus far. Fortunately, there have already been in-depth publications from Tousi et al, 63 Yang et al 64 and Tousi et al, 65 who have studied the fault tolerance control from a mathematical perspective. There is no doubt that the seamless merging of fault-tolerance control and formation control would dramatically improve the utility of the research.…”

Optimal hybrid fault recovery in a team of unmanned aerial vehicles

“…The supervisory control in the highlevel allows the system to freely go through the feasible solutions considering the given specifications and constraints. This paper generalizes the solution that was provided in [21] by analyzing the available and feasible solutions and determining the optimum paths possible by utilizing combinatorial optimization techniques.…”

“…On the other hand, not much work has been carried out on the notion of hybrid FR for a team of autonomous unmanned vehicles (UVs). In [21], a novel hybrid FDIR approach for a team of multi-agent systems is proposed. The decision making process is carried out in the highlevel DES supervisory unit in a centralized fashion.…”

“…One of the distinct features of the proposed hybrid technique is its suitability for accommodating a broad class of faults. However, the proposed method in [21] did not consider an optimum hybrid FDIR solution, and more specifically an optimal hybrid FR solution. The supervisory control in the highlevel allows the system to freely go through the feasible solutions considering the given specifications and constraints.…”

Model-Based Fault Diagnosis of an Anti-Lock Braking System via Structural Analysis

“…Sometimes, more than one of the existing methods are integrated into fault diagnosis for complicated systems, which is called the “hybrid approach” [3]. For example, fault diagnoses of engines are analyzed in different combination of the above methods in references [29,30,31]; diagnosis and recovery for a team of unmanned vehicles are discussed in references [32,33], and detection and recognition of vehicles are studied in references [34].…”