Multisensor fusion fault tolerant control

✍ Scribed by Alain Yetendje; José A. De Doná; Maria M. Seron

• Publisher: Elsevier Science
• Year: 2011
• Tongue: English
• Weight: 475 KB
• Volume: 47
• Category: Article
• ISSN: 0005-1098
• DOI: 10.1016/j.automatica.2011.02.024

✦ Synopsis

In this paper, a multisensor fusion fault tolerant control system with fault detection and identification via set separation is presented. The fault detection and identification 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. The fused estimates are then used to implement a state feedback tracking controller. We ensure closed-loop stability and performance under the occurrence of abrupt sensor faults. Experimental validation, illustrating the multisensor fusion fault tolerant control strategy is included.