Fault Diagnosis and Fault-Tolerant Control of a Joystick-Controlled Wheelchair

2008 ◽  
Vol 20 (6) ◽  
pp. 903-911
Author(s):  
Masafumi Hashimoto ◽  
◽  
Yuuki Nakamura ◽  
Kazuhiko Takahashi ◽  
Keyword(s):  
Decision Making ◽  
Fault Diagnosis ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Experimental Results ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Sensors And Actuators ◽  
Powered Wheelchair ◽  
Decision Making Rule

This paper presents a method of fault diagnosis and fault-tolerant control for a nonholonomic powered wheelchair. Hard faults of sensors and actuators in two drive/steering units of the wheelchair are handled. The fault diagnosis is based on the interacting multiple-model (IMM) estimator. In order to improve fault decisions, we implement mode probability averaging and heuristic decision-making rule in the IMM-based algorithm. A fault-tolerant controller designed based on Ackerman geometry enables safe motion of the wheelchair even if sensors and actuators have partially failed. Experimental results verify the proposed method.

scholarly journals A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

Machines ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 197
Author(s):  
George K. Fourlas ◽  
George C. Karras
Keyword(s):  
Fault Diagnosis ◽  
Unmanned Aerial Vehicles ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Modern Technology ◽  
Sensors And Actuators ◽  
Fault Monitoring ◽  
Aerial Vehicles ◽  
Reliable Performance ◽  
Aerial Vehicle

The continuous evolution of modern technology has led to the creation of increasingly complex and advanced systems. This has been also reflected in the technology of Unmanned Aerial Vehicles (UAVs), where the growing demand for more reliable performance necessitates the development of sophisticated techniques that provide fault diagnosis and fault tolerance in a timely and accurate manner. Typically, a UAV consists of three types of subsystems: actuators, main structure and sensors. Therefore, a fault-monitoring system must be specifically designed to supervise and debug each of these subsystems, so that any faults can be addressed before they lead to disastrous consequences. In this survey article, we provide a detailed overview of recent advances and studies regarding fault diagnosis, Fault-Tolerant Control (FTC) and anomaly detection for UAVs. Concerning fault diagnosis, our interest is mainly focused on sensors and actuators, as these subsystems are mostly prone to faults, while their healthy operation usually ensures the smooth and reliable performance of the aerial vehicle.

scholarly journals Modeling and Fault Diagnosis of Interturn Short Circuit for Five-Phase Permanent Magnet Synchronous Motor

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Jian-wei Yang ◽  
Man-feng Dou ◽  
Zhi-yong Dai
Keyword(s):  
Parameter Estimation ◽  
Fault Diagnosis ◽  
Permanent Magnet ◽  
Fault Tolerant ◽  
Short Circuit ◽  
Estimation Method ◽  
Trust Region ◽  
Fault Tolerant Control ◽  
Trust Region Algorithm ◽  
Parameter Estimation Method

Taking advantage of the high reliability, multiphase permanent magnet synchronous motors (PMSMs), such as five-phase PMSM and six-phase PMSM, are widely used in fault-tolerant control applications. And one of the important fault-tolerant control problems is fault diagnosis. In most existing literatures, the fault diagnosis problem focuses on the three-phase PMSM. In this paper, compared to the most existing fault diagnosis approaches, a fault diagnosis method for Interturn short circuit (ITSC) fault of five-phase PMSM based on the trust region algorithm is presented. This paper has two contributions. (1) Analyzing the physical parameters of the motor, such as resistances and inductances, a novel mathematic model for ITSC fault of five-phase PMSM is established. (2) Introducing an object function related to the Interturn short circuit ratio, the fault parameters identification problem is reformulated as the extreme seeking problem. A trust region algorithm based parameter estimation method is proposed for tracking the actual Interturn short circuit ratio. The simulation and experimental results have validated the effectiveness of the proposed parameter estimation method.

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