Distributed optimal fusion steady-state Kalman filter for systems with coloured measurement noises
International Journal of Systems Science
Multisensor switching control strategy with fault tolerance guarantees
Automatica (Journal of IFAC)
Technical Communique: The optimality for the distributed Kalman filtering fusion with feedback
Automatica (Journal of IFAC)
Multi-sensor optimal information fusion Kalman filter
Automatica (Journal of IFAC)
| Hi-index | 22.14 |
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.