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Génération de résidus directionnels pour le diagnostic des systèmes linéaires stochastiques et la commande

Abstract : The main work presented in this document deals with the synthesis of a diagnosis method and a fault tolerant control law for linear stochastic systems. It is divided into two parts: - the first part concerns the design of robust fault detection filter. It has been defined in such a way that the obtained directional residual sensitivity to model and stochastic uncertainties is minimally. This approach is different from the existant ones because the fault detection filter is designed on the basis of a system inversion. After having parametrized all the minimum-time left-inverses of the system, the remaining available degrees of freedom have been computed to maximize the fault signal-to-noise ratio. This approach has allowed to define an optimal filtering of the reduced state having maximal dimension. In other words, the fault effect on the state estimation error is maximally reduced under the constraint that sufficient information remains available to detect and isolate the faults. - the second part deals with the integration of the fault detection filter into the fault tolerant control law. The deadbeat structure of detection space allows to obtain two fault tolerant control laws having maximum reactivity. The first is based on the augmented fault detection filter and on the well-known separation principle in the LQG technique. The control law is obtained by rejecting the non controllable modes. This approach has led to LTR control (Left Transfer Recovery) obtained by an explicit computation of the system left-inverse. Like the first approach, the second law is also based on the fault detection filter but it is characterized by the optimal definition of an additive control law. Its application to a benchmark defined in the IFATIS project has shown the best reactivity of this control law after the abrupt occurence of both single and multiple faults. The proposed control law allows to accommodate the fault effects faster than a Proportional Integral control law which always reacts slower.
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Contributor : Hicham Jamouli <>
Submitted on : Wednesday, April 7, 2004 - 1:16:40 PM
Last modification on : Friday, May 17, 2019 - 11:41:52 AM
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Hicham Jamouli. Génération de résidus directionnels pour le diagnostic des systèmes linéaires stochastiques et la commande. Automatique / Robotique. Université Henri Poincaré - Nancy I, 2003. Français. ⟨tel-00005813⟩

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