Failure detection and identification and fault tolerant control using the IMM-KF with applications to the Eagle-Eye UAV

Rago, Constantino; Prasanth, Ravi; Mehra, Raman K.; Fortenbaugh, R.

doi:10.1109/cdc.1998.761963

Cited by 86 publications

(58 citation statements)

References 1 publication

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“…(3) achieves the maximum value of right hand side in equation (1). If the policy is calculated using (2) with the solution of (3), it will be optimal with respect to (1).…”

Section: B Mdp Backgroundmentioning

confidence: 99%

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A Mission Based Fault Reconfiguration Framework for Spacecraft Applications

Nasir

Atkins

Kolmanovsky

2012

Infotech@Aerospace 2012

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We present a Markov Decision Process (MDP) framework for computing post-fault reconfiguration policies that are optimal with respect to a discounted cost. Our cost function penalizes states that are unsuitable to achieve the remaining objectives of the given mission. The cost function also penalizes states where the necessary goal achievement actions cannot be executed. We incorporate probabilities of missed detections and false alarms for a given fault condition into our cost to encourage the selection of policies that minimize the likelihood of incorrect reconfiguration. To illustrate the implementation of our proposed framework, we present an example inspired by the Far Ultraviolet Spectroscopic Explorer (FUSE) spacecraft with a mission to collect scientific data from 5 targets. Using this example, we also demonstrate that there is a design tradeoff between safe operation and mission completion. Simulation results are presented to illustrate and manage this tradeoff through the selection of optimization parameters.

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“…(3) achieves the maximum value of right hand side in equation (1). If the policy is calculated using (2) with the solution of (3), it will be optimal with respect to (1).…”

Section: B Mdp Backgroundmentioning

confidence: 99%

“…al. 1 have proposed a fault tolerant control scheme where the post-detection control law is a weighted sum of the stabilizing controllers for different failure modes. In this formulation, the weight on each control law depends upon the probability of the corresponding failure as predicted by the detection scheme.…”

Section: Introductionmentioning

confidence: 99%

A Mission Based Fault Reconfiguration Framework for Spacecraft Applications

Nasir

Atkins

Kolmanovsky

2012

Infotech@Aerospace 2012

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“…Mode probabilities of the IMM have been used before to diagnose faults. In [Me95], [Me98], [Ra98], [Zh97] raw sensor data outputs were assumed to have been modeled both in normal and all abnormal operation modes, and a jump from one mode to another would announce itself via the IMM mode probabilities -this is the usual application of the IMM to system diagnosis, and while it has shown very nice results its weaknesses are a need for precise modeling in the domain of the raw signal, and a lack of prognostic information. The approach of this paper uses a simple suite of relatively untuned kinematic models on the sensor-alarm probabilities: there is little need for modeling beyond what is known in the system dependency matrix, and the prognostic information is rich.…”

Section: Terminal State Estimationmentioning

confidence: 99%

Predicting Time to Failure Using the IMM and Excitable Tests

Phelps

Willett

Kirubarajan

et al. 2007

IEEE Trans. Syst., Man, Cybern. A

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Prognostics, which refers to the inference of an expected time-to-failure for a system, is made difficult by the need to track and predict the trajectories of real-valued system parameters over essentially unbounded domains, and by the need to prescribe a subset of these domains in which an alarm should be raised. In this paper we propose an idea, one whereby these problems are avoided: instead of physical system or sensor parameters, a vector corresponding to the failure probabilities of the system's sensors (which of course are bounded within the unit hypercube) is tracked. With the help of a system diagnosis model, the corresponding the fault signatures can be identified as terminal states for these probability vectors. To perform the tracking, Kalman filters and interacting multiple model (IMM) estimators are implemented for each sensor. The work that has been completed thus far shows promising results in both large and small-scale systems, with the impending failures being detected quickly and the prediction of the time until this failure occurs being determined accurately.

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“…The diagnostic method presented in the article is valid only for the control surface FDI. In (Zhang & Li, 1997;Rago et al, 1998) the algorithms for detection and diagnosis of multiple failures in a dynamic system are described. They are based on the Interacting Multiple-Model (IMM) estimation algorithm, which is one of the most cost-effective adaptive estimation techniques for systems involving structural as well as parametric changes.…”

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confidence: 99%

“…The algorithm consists of a "front end" estimator for the control system, composed of a bank of parallel Kalman filters, each matched to a specific hypothesis about the failure status of the system (fully functional or a failure in any one sensor or actuator), and a means of blending the filter outputs through a probability-weighted average. In methods described in (Zhang & Li, 1997;Rago et al, 1998;Maybeck, 1999), the faults are assumed to be known, and the Kalman filters are designed for the known sensor/actuator faults. As the approach requires several parallel Kalman filters, and the faults should be known, it can be used in limited applications.…”

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confidence: 99%

Sensor and Actuator/Surface Failure Detection Based on the Spectral Norm of an Innovation Matrix

Hajiyev¹

2010

Fault Detection

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Failure detection and identification and fault tolerant control using the IMM-KF with applications to the Eagle-Eye UAV

Cited by 86 publications

References 1 publication

A Mission Based Fault Reconfiguration Framework for Spacecraft Applications

A Mission Based Fault Reconfiguration Framework for Spacecraft Applications

Predicting Time to Failure Using the IMM and Excitable Tests

Sensor and Actuator/Surface Failure Detection Based on the Spectral Norm of an Innovation Matrix

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