Model-based probabilistic collision detection in autonomous driving
IEEE Transactions on Intelligent Transportation Systems
Disturbance attenuation in fault detection of gas turbine engines: a discrete robust observer design
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Actuator Fault Tolerance in Control Systems with Predictive Constrained Set-Point Optimizers
International Journal of Applied Mathematics and Computer Science - Issues in Fault Diagnosis and Fault Tolerant Control
Robust diagnosis of discrete-event systems against permanent loss of observations
Automatica (Journal of IFAC)
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The paper describes a method for detecting and identifying faults that occur in the sensors or in the actuators of dynamical systems with discrete-valued inputs and outputs. The model used in the diagnosis is a stochastic automaton. The generalized observer scheme (GOS), which has been proposed for systems with continuous-variable inputs and outputs some years ago, are developed for discrete systems. This scheme solves the diagnostic problem as an observation problem, which is set up here for discrete-event systems. As the system under consideration is described by a stochastic automaton rather than a differential equation, the mathematical background and the diagnostic algorithms obtained are completely different from the well-known observers developed for continuous-variable systems. The GOS is extended here by a fault detection module to cope with plant faults that are different from actuator or sensor faults. The diagnostic algorithm consists of two steps, the first detecting the existence of a fault and the second isolating possible sensor or actuator faults or identifying plant faults. The results are applied to quantized systems whose discrete inputs and outputs result from a quantization of the continuous-variable input and output signals. Experimental results illustrate the proposed diagnostic method.