Consensus based overlapping decentralized fault detection and isolation

Stanković, Srdjan; Ilić, Nemanja; Djurović, Željko; Stanković, Miloš S.; Johansson, Karl Henrik

doi:10.1109/systol.2010.5675991

Cited by 41 publications

(33 citation statements)

References 15 publications

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“…Furthermore, analysis of fault scenarios and effects in distributed systems were presented in [107,45]. But, as far as distributed discrete-time or continuous-time systems are concerned, only qualitative fault diagnosis schemes were attempted very recently [70,93,21,55], or quantitative methods that were formulated for linear systems only [18,56,59,102].…”

Section: Motivationmentioning

confidence: 99%

Distributed Fault Detection and Isolation of Continuous-Time Non-Linear Systems

Boem

Ferrari

Parisini

2011

European Journal of Control

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Section: Motivationmentioning

confidence: 99%

Distributed Fault Detection and Isolation of Continuous-Time Non-Linear Systems

Boem

Ferrari

Parisini

2011

European Journal of Control

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“…Observer-based decentralized solutions for detecting and isolating faults in interconnected subsystems are presented in Ferrari et al (2009) and Zhang and Zhang (2012) where a bank of local adaptive observers, using only measurements and information from neighboring subsystems, are proposed. Observerbased approaches for overlapping linear systems can be found in Stankovic et al (2010) where local observers are adopted to detect faults on the non-overlapping parts, while a consensus-like strategy is adopted for the overlapping parts.…”

Section: Introductionmentioning

confidence: 99%

Distributed Fault-Tolerant Control for Networked Robots in the Presence of Recoverable/Unrecoverable Faults and Reactive Behaviors

2017

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The paper presents an architecture for distributed control of multi-robot systems with an integrated fault detection, isolation, and recovery strategy. The proposed solution is based on a distributed observer-controller schema where each robot, by communicating only with its direct neighbors, is able to estimate the overall state of the system; such an estimate is then used by the controllers of each robot to achieve global missions as, for example, centroid and formation tracking. The information exchanged among the observers is also used to compute residual vectors that allow each robot to detect failures on anyone of the teammates, even if not in direct communication. The proposed strategy considers both recoverable and unrecoverable actuator faults as well as it properly manages the possible activation of reactive local control behaviors of the robots (e.g., the activation of obstacle avoidance strategy), which generate control inputs different from those required by the global mission control. In particular, when the robots are subject to recoverable faults, those are managed at a local level by computing a proper compensating control action. On the other side, when the robots are subject to unrecoverable faults, the faults are isolated from anyone of the teammates by means of a distributed fault detection and isolation strategy; then, the faulty robots are removed from the team and the mission is rearranged. The proposed strategy is validated via numerical simulations where the system properly identifies and manages the different cases of recoverable and unrecoverable actuator faults, as well as it manages the activation of local reactive control in an integrated case study.

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“…In the last years though, due to advances in computing and communications mainly, the focus of the research activities is directed mostly towards the development of hierarchical (Klinkhieo & Patton, 2009; R. J. Patton et al, 2007), decentralized (Ferdowsi, Raja, & Jagannathan, 2012;Léchevin & Rabbath, 2009;Stankovic, Ilic, Djurovic, Stankovic, & Johansson, 2010;Wei, Gui, Xie, & Ding, 2009;X. Zhang, Polycarpou, & Parisini, 2009) and distributed (Boem, Ferrari, & Parisini, 2011;Ferrari, Parisini, & Polycarpou, 2012;Keliris, Polycarpou, & Parisini, 2013a;Yan, Tian, & Shi, 2008) schemes for process or sensor faults.…”

Section: Introductionmentioning

confidence: 99%

Distributed fault diagnosis for process and sensor faults in a class of interconnected input–output nonlinear discrete-time systems

Keliris

Polycarpou

Parisini

2015

International Journal of Control

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This paper presents a distributed fault diagnosis scheme able to deal with process and sensor faults in an integrated way for a class of interconnected input-output nonlinear uncertain discrete-time systems. A robust distributed fault detection scheme is designed, where each interconnected subsystem is monitored by its respective fault detection agent, and according to the decisions of these agents, further information regarding the type of the fault can be deduced. As it is shown, a process fault occurring in one subsystem can only be detected by its corresponding detection agent whereas a sensor fault in a subsystem can be detected by either its corresponding detection agent or the detection agent of another subsystem that is affected by the subsystem where the sensor fault occurred. This discriminating factor is exploited for the derivation of a high-level isolation scheme. Moreover, process and sensor fault detectability conditions characterizing quantitatively the class of detectable faults are derived. Finally, a simulation example is used to illustrate the effectiveness of the proposed distributed fault detection scheme.

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Consensus based overlapping decentralized fault detection and isolation

Cited by 41 publications

References 15 publications

Distributed Fault Detection and Isolation of Continuous-Time Non-Linear Systems

Distributed Fault Detection and Isolation of Continuous-Time Non-Linear Systems

Distributed Fault-Tolerant Control for Networked Robots in the Presence of Recoverable/Unrecoverable Faults and Reactive Behaviors

Distributed fault diagnosis for process and sensor faults in a class of interconnected input–output nonlinear discrete-time systems

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