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.
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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
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DOI: https://doi.org/10.1007/978-1-4471-4628-5_12
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