Abstract
This chapter deals with model-based techniques for Fault detection and isolation (FDI) applied to networked control systems (NCS). The considered NCS application is related to telerobotics system, where it is represented by a hybrid model, including the continuous, discrete, and stochastic aspects of all the system components. The considered NCS is divided into two parts, namely the network and the controlled system parts. The network part is taken as a discrete and stochastic system in presence of unstructured uncertainties and external faults, while the controlled system part is considered as a continuous system in presence of input and output faults. Two model-based fault diagnosis approaches are developed; the first concerns a discrete and stochastic observer applied to the network part in order to detect and isolate system faults in presence of induced delay, and the second is based on the analytical redundancy relations (ARR), allowing the detection and the isolation of the input and output faults. Experimental results applied to telerobotics system show the online implementation of fault diagnosis algorithm for NCS application.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Accelerometer ADXL330 (2010), www.analog.com
C. Berbra, S. Gentil, S. Lesecq, J.-M. Thiriet, Co-design for a safe network controlled DC motor, in 3rd IFAC Workshop on Networked Control Systems Tolerant to Faults, Nancy, France, 2007
C. Berbra, S. Lesecq, S. Gentil, J.-M. Thiriet, Co-design of a safe network control quadrotor, in Proceedings of the 17th IFAC World Congress, Seoul, Korea, 2008
Bluetooth, The official website for the Bluetooth short range wireless connectivity standard (2010), www.bluetooth.com
S. Boyd, L. El Ghaoui, E. Feron, V. Balakrishnan, Linear matrix inequalities in system and control theory, in Society for Industrial and Applied Mathematics (SIAM), 1994, ISBN 0-89871-334-X
Y. Chen, B. Xiao, Z. Xu, Fault detection filter design for networked control system with communication delays, in Proceedings of the 6th International Conference on Intelligent Systems Design and Applications (ISDA’06), 2006, pp. 867–872
Festo Didactic, The official website of Festo Didactic (2010), www.festo-didactic.com
H. Fang, H. Zhang, Y. Fang, F. Yang, Quasi T-S fuzzy models and stable controllers for networked control systems, in Proceedings of the 6th World Congress on Intelligent Control and Automation, 2006, pp. 220–223
K. Fawaz, R. Merzouki, and B. Ould-Bouamama. Fault detection of actuators and channel transmission using virtual simulation, in 17th World Congress of the International Federation of Automatic Control, Seoul, Korea, 6–11 July 2008, p. 13118
K. Fawaz, R. Merzouki, B. Ould-Bouamama, Telediagnosis of transmission channel and actuators faults on a mobile robot, in 17th World Congress The International Federation of Automatic Control, Seoul, Korea, 6–11 July 2008, pp. 10510–10516
P.F. Hokayem, M.W. Spong, Bilateral teleoperation: an historical survey. Automatica 42, 2035–2057 (2006)
B. Iung, From remote maintenance to MAS-based e-maintenance of industrial process. J. Intell. Manuf. 14, 59–82 (2004)
Java, The website of Java Language Developer (2010), http://java.sun.com.
K-team (2010), www.k-team.com
A. Kheddar, P. Coiffet, Téléopération et réalité virtuelle. Systémes automatisés IC2 (Hermes Edition, Paris, 2002), ISBN: 978-2-7462-0448-5
Kuka, The official website of Kuka robotics company (2010), www.kuka-robotics.com
R. Luck, A. Ray, An observer-based compensator for distributed delays. Automatica 26, 903–908 (1990)
R. Merzouki, J.A. Davila Montoya, L.M. Fridman, J.C. Cadiou, Backlash phenomenon observation and identification in electromechanical system. Control Eng. Pract. 15, 447–457 (2007)
Microsoft, The official website of Windows Embedded (2010), www.microsoft.com/windowsembedded
Microsoft, The official website of Visual Basic (2010), www.msdn.microsoft.com
Nintendo, The official website of the Wiimote (2010), www.nintendo.fr
J.P. Richard, Time-delay systems: an overview of some recent advances and open problems. Automatica 39, 1667–1694 (2003)
D. Sauter, T. Boukhobza, Robustness against unknown networked induced delays of observer based FDI, in Proceeding of 6th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, 2006
L. Teppoz Commande d’un systéme de conversion de type VSC-HVDC. Stabilité-contrôle des perturbations. Ph.D. Thesis, INPG, Grenoble, France, 2005
R. Toscano. Commande et diagnostic des systémes dynamiques. (Ellipses, Paris, 2005)
USB, The official website for the Universal Serial Port (2010), www.usb.org
H. Ye, S.X. Ding, Fault detection of networked control systems with network-induced delay, in Proceedings of 8th International Conference on Control, Automation, Robotics and Vision, 2004
H. Ye, G. Wang, S.X. Ding, A new parity space approach for fault detection based on stationary wavelet transform. IEEE Trans. Autom. Control 49, 281–287 (2004)
H. Ye, Y. Wang, Application of parity relation and stationary wavelet transform to fault detection of networked control systems, in Proceedings of 1st IEEE Conference on Industrial Electronics and Applications, 2006
P. Zhang, S.X. Ding, P.M. Frank, M. Sader, Fault detection of networked control systems with missing measurements, in Proceedings of the 5th IEEE Asian Control Conference, 2004, pp. 1258–1263
Y. Zheng, H. Fang, H.O. Wang, Takagi-Sugeno fuzzy-model-based fault detection for networked control systems with Markov delays. IEEE Trans. Syst. Man Cybern. Part B Cybern. 36, 924–929 (2006)
Y. Zheng, H. Fang, Y. Wang, Kalman filter based FDI of networked control system, in Proceedings of the 5th World Congress on Intelligent Control and Automation, Hangzhou, China, 2004, pp. 1330–1333
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2013 Springer-Verlag London
About this chapter
Cite this chapter
Merzouki, R., Samantaray, A.K., Pathak, P.M., Ould Bouamama, B. (2013). Telediagnosis of Mechatronic Systems. In: Intelligent Mechatronic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-4628-5_12
Download citation
DOI: https://doi.org/10.1007/978-1-4471-4628-5_12
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-4627-8
Online ISBN: 978-1-4471-4628-5
eBook Packages: EngineeringEngineering (R0)