Marcin Witczak

Marcin Witczak
University of Zielona Góra | UZ · Institute of Control and Computational Engineering

Professor

About

227
Publications
22,013
Reads
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2,501
Citations
Introduction
Professor of automatic control and robotics at the Institute of Control and Computation Engineering, University of Zielona Góra, since 2008. His current research interests include computational intelligence, Fault Detection and Isolation (FDI), Fault-Tolerant Control (FTC), and control theory.
Additional affiliations
September 1998 - present
University of Zielona Góra
Position
  • Professor (Full)
Education
September 1993 - June 1998
University of Zielona Góra
Field of study
  • Electrical Engineering

Publications

Publications (227)
Chapter
This paper describes the design and performance analysis of an automated guided vehicle. The paper deals with a terrain mapping problem. The construction and main physical properties of an automated guided vehicle are presented. All used sensors, modules, and automated control methods are carefully defined and described. Light detection and ranging...
Article
One of the main current threats for producing companies is the possibility of cyber-space attacks. Due to several reasons, industrial companies need to connect their plants over some kind of networks. Obviously, today many approaches from information technology (IT) exist which will greatly reduce the danger of attacks. Still, no producing company...
Chapter
This chapter presents the overall concept of designing neural and Takagi–Sugeno (TS) models and their application in the tasks of fault detection and estimation of sensors and actuators. TS method is based on modeling a nonlinear system with the use of fuzzy sets, rules and local linear models. The chapter describes the automated generation method...
Article
Full-text available
The paper proposes a fault-tolerant tracking control scheme based on a robust observer for a descriptor system. Thus, it is assumed that the described system can be simultaneously occupied by an unknown input disturbance, along with an actuator and sensor faults. Additionally, it is natural to assume that the unknown input disturbance cannot be est...
Conference Paper
Full-text available
A permanent growth of electrical forklifts’ applications makes them a dominating indoor and outdoor transportation tool. In spite of an unquestionable appeal of e-mobility, forklifts accumulators undergo a gradual degradation, which has to be suitably maintained. Thus, an appropriate work scheduling and human operator skills are crucial for their r...
Article
Full-text available
The paper presents a new method of predicting the remaining useful life of technical devices. The proposed soft computing approach bridges the gap between analytical and data-driven health prognostic approaches. Whilst the former ones are based on the classical exponential shape of degradation, the latter ones learn the degradation behavior from th...
Article
The paper concerns the digital twin design and fault-tolerant control of a production system. The real laboratory system under consideration consists of two subsystems: an assembly part and an automated guided vehicle transportation one. The proposed approach focuses, simultaneously, on both concurrency and synchronization problems as they are inev...
Article
This article undertakes the problem of simultaneous estimation of state and process faults in linear parameter varying systems. For this purpose, a novel strategy that exploits recent results on the design of observers for quadratic parameter varying systems is developed, and a complete design procedure is described. First, it is shown that by trea...
Article
Internal logistics systems aim at supplying the right materials at the right locations at the right time. This fact creates the need for the design of logistic-train-fleet-oriented, distributed and scalability-robust control policies ensuring deadlock-free operations. This paper presents a solution to a milk-run vehicle routing and scheduling probl...
Conference Paper
Full-text available
In this paper, a leader-following formation control for second-order multi-agent systems under communication faults/failures is presented. Communication faults/failures are considered dependent on the distance between the agents as smooth time-varying delays. Linear matrix inequality conditions are obtained for computing a control gain which guaran...
Article
Full-text available
Among the existing estimation schemes of a battery state of charge, most deal with an assumption that the faults will never occur in the system. Nevertheless, faults may have a crucial impact on the state of charge estimation accuracy. The paper proposes a novel observer design to estimate the state of charge and the remaining useful life of a Li-i...
Chapter
The complexity of modern systems and industrial installations, along with continuously growing requirements regarding their operation and control quality, is a serious challenge in the development of control theory as well as process and system diagnostics. The dynamic evolution of fault tolerant control theory witnessed in recent years is a partia...
Conference Paper
A permanent growth of forklifts’ indoor practical applications such as high-storage warehouses makes them dominating transportation tools. It rises the need for their coordinated scheduling including uncertainties related to the human operator behaviour. To tackle this problem, in the paper a novel comprehensive fuzzy logic-based methodology enabli...
Conference Paper
The design of logistic trains fleet oriented distributed and scalability-robust control policies that ensure deadlock-free operations is of crucial importance for efficient material handling systems. This study considers a multi-item assembly system where in-plant transport operations are organized in milk-run loops. A solution to a milk-run routin...
Article
Full-text available
The paper is devoted to the problem of estimating simultaneously states, as well as actuator and sensor faults for Takagi–Sugeno systems. The proposed scheme is intended to cope with multiple sensor and actuator faults. To achieve such a goal, the original Takagi–Sugeno system is transformed into a descriptor one containing all state and fault vari...
Chapter
Full-text available
It is an undeniable fact that material handling systems aim at supplying the right materials at the right locations at the right time. This fact creates the need for the design of logistic-train-fleet-oriented, distributed and scalability-robust control policies ensuring deadlock-free operations. The paper presents a solution to a multi-item and mu...
Article
The paper is devoted to developing a new fault detection scheme for an Automated Guided Vehicle (AGV) on the basis of so-called virtual sensors (VSs) which provide the information regarding the current status of a vehicle. This set contains the estimates of lateral and longitudinal forces as well as the torque. The paper proposes a novel robust VSs...
Article
Full-text available
This paper reports the application of the methods and tools of fault-tolerant design to an automated shifting system and their reflection and extension. Fault-tolerant design has emerged in the last years and is generally understood as a collection of strategies, methods, algorithms, tools and insights which are intended to support the development...
Article
An advanced control of manufacturing and transportation systems forms a prominent research field with powerful algorithms developed in the last decades. Challenges still arise, if several automated guide vehicles (AGV) have to be coordinated. This paper focuses on the modelling and fault-tolerant control of multiple AGVs. The considered application...
Article
Full-text available
The paper is devoted to the problem of a neural network-based robust simultaneous actuator and sensor faults estimator design for the purpose of the fault diagnosis of nonlinear systems. In particular, the methodology of designing a neural network-based fault estimator is developed. The main novelty of the approach is associated with possibly simul...
Chapter
This document describes estimation and approximation process of bearings Remaining Useful Life from 2012 Data Challenge. Data were received with the help of PRONOSTIA Platform, constructed for the needs of IEEE Data Challenge. This paper shows different methods of data processing to approximate Remaining Useful Life, which is very important in indu...
Chapter
Flexibility and agility are central requirements for future manufacturing systems (especially assembly systems), because in most industries the product variety and the fluctuations in demand are still increasing. An increase of the degree of flexibility allows more efficient activities aiming at following the dynamically evolving markets. Such syst...
Article
A fleet of homogeneous UAVs fly in a 2D plane matching a distribution network to service customers in a collision-free manner. Limited UAVs’ battery capacity and UAVs’ weight reduction during they traveling along planned routes and goods delivery as well as changing weather conditions are also taken into account. The goal is to determine a set of r...
Article
The paper concerns a development of an integrated design of fault estimation and control scheme within an integrated actuator fault-tolerant control framework. The integrated design boils down to avoiding a standard three-step fault diagnosis (detection, isolation, identification) and replacing it by a fault estimation. Subsequently, the inaccuraci...
Conference Paper
Full-text available
A nonlinear system is said to be quadratically bounded (QB) if all its solutions are bounded and this is guaranteed using a quadratic Lyapunov function. This paper considers the QB analysis and state-feedback controller design problems for quadratic parameter varying (QPV) systems. The developed approach, which relies on a linear matrix inequality...
Article
The cyclic nature of the production flow enables just-in-time planning and organization of the associated supply chains. In turn, disruptions in the operation of machinery and equipment, which occur in practice, lead to deviations from nominal operation times. That lead to changes in production takt time, making it necessary to adjust previously cr...
Conference Paper
The cyclic nature of the production flow enables just-in-time planning and organization of the associated supply chains. In turn, disruptions in the operation of machinery and equipment, which occur in practice, lead to deviations from nominal operation times. That lead to changes in production takt time, making it necessary to adjust previously cr...
Article
Full-text available
The paper aims at providing two competitive solutions to the problem of estimating state as well as sensor and actuator faults. The development starts with a common system description, which is transformed into a nonlinear descriptor system-like form. The appealing property of such an approach is that the sensor fault is eliminated from the output...
Conference Paper
The main objective of the paper is to provide an actuator fault estimation scheme, which takes into account various uncertainty sources. In particular, they are divided into three groups: sensor measurement noise, process external exogenous disturbances as well as unknown fault dynamics. Contrarily to the approaches presented in the literature, the...
Article
Full-text available
In recent years, more and more technical systems dispose of some form of intelligence which allows to control and diagnose the processes and states in such systems. One important prerequisite for both control and diagnosis is monitoring, i.e. a systematic observation, surveillance or recording of entities of a technical product or its surroundings...
Chapter
Fault diagnosis boils down to deciding if a fault occurs (fault detection), locating a faulty component (fault isolation), and assessing the size of a fault (fault identification and estimation) [10, 79]. This causes that fault diagnosis can be perceived as a three-step procedure, which covers fault detection, isolation, and identification. As can...
Article
This paper reports the development and application of an interval max-plus fault-tolerant control to a seat assembly system. Such systems will undergo a profound change, because novel seats for autonomous driving contain expanded safety systems and are more voluminous and heavy. Automated guided vehicles are a promising means of transportation in t...
Article
Full-text available
The main objective of this paper is to develop an actuator and sensor fault estimation framework taking into account various uncertainty sources. In particular, these are divided into three groups: sensor measurement noise, process-external exogenous disturbances, as well as unknown fault dynamics. Unlike the approaches presented in the literature,...
Chapter
The paper is devoted to the problem of design of robust estimator and controller on the basis of the neural-network model represented in a linear parameter-varying form. In particular the fault-tolerant controller for multiple sensor and actuator faults is developed. The proposed approach is able to minimise the influence of the multiple faults of...
Article
The current trend towards Industry 4.0 leads to several important aspects that concern future warehouse systems. The holistic digitalization efforts behind this trend may enable sustainable and resilient processes within warehouses and may increase their agility, but require elaborate control and diagnosis systems. This paper concentrates on one pr...
Article
A nonlinear system is said to be quadratically bounded (QB) if all its solutions are bounded and this is guaranteed using a quadratic Lyapunov function. This paper considers the QB analysis and state-feedback controller design problems for quadratic parameter varying (QPV) systems. The developed approach, which relies on a linear matrix inequality...
Conference Paper
The paper presents a robust Guaranteed Cost Control (GCC) for nonlinear system using Product Reduction Algorithm (PRA). The proposed approach starts with a general description of the nonlinear system with nonlinear term in the state equation and assumptions regarding to a nonlinear function. The subsequent part of the paper is concerned with the de...
Conference Paper
This paper deals with the problem of fault-tolerant control for non-linear systems under process faults. The proposed strategy is based on estimation strategy. The estimator is designed using the so-called quadratic boundedness approach. The control strategy in case of process fault is proposed. The final part shows an illustrative example with an...
Conference Paper
The main objective of the paper is to present selected results for fault-tolerant control for constrained dynamic systems. The paper starts with an integrated actuator fault-tolerant control scheme. Subsequently, sensor fault estimation and fault-tolerant is outlined. Based on this seminal work, the need for simultaneous multiple sensor and actuato...
Article
Full-text available
The paper deals with the problem of designing sensor-fault tolerant control for a class of non-linear systems. The scheme is composed of a robust state and fault estimator as well as a controller. The estimator aims at recovering the real system state irrespective of sensor faults. Subsequently, the fault-free state is used for control purposes. Al...
Article
Full-text available
In recent years, Automated Guided Vehicles (AGVs) have been playing an increasingly important role in producing industry and infrastructure and will soon arrive to other areas of human life such as the transportation of goods and people. However, several challenges still aggravate the operation of AGVs, which limit the amount of implementation. One...
Article
The paper deals with the problem of simultaneous estimation of sensor and process faults. For that purpose, a novel scheme is proposed and its complete design procedure is described. The approach results in a robust estimation strategy with guaranteed convergence. In particular, apart from simultaneous estimation ability the proposed approach makes...
Article
The paper deals with an actuator fault tolerant control (FTC) under constraints for wind turbines. The main issue is to keep a desired value of turbine efficiency coefficient and minimization of tip-speed-ratio. The proposed strategy relies on following stages: a fault is estimated first and then it is compensated with a robust controller. If the c...
Article
The paper deals with the design of virtual sensors of longitudinal forces as well as torques acting onto an automated guided vehicle. These virtual sensors are based on a measurement set associated with accelerations, velocities and yaw rate sensors mounted on the robot. Subsequently, the estimated forces and torques are used for diagnostic purpose...
Article
In the paper, a novel methodology of actuator fault estimation for linear discrete-time systems is proposed. To solve such a challenging problem, a quadratic boundedness approach is used to guarantee the convergence of the proposed state and actuator fault estimation method. In the proposed methodology, the robustness is achieved through the unknow...
Article
The paper concerns the state estimation problem of a class of discrete-event systems. It is solved by defining a receding-horizon objective function that depends both on the prediction and output error. The system and its variables are described within the (max,+) algebra, which makes it possible to incorporate robustness within the overall framewo...
Article
In the paper, a methodology of actuator fault estimation and fault tolerant control for nonlinear systems is proposed. To solve such a challenging problem, a quadratic boundedness (QB) approach is used to design observer in such a way that the state and fault estimation error will converge to the origin (as close as possible) irrespective of the ex...
Article
Full-text available
This paper deals with the total observability problem of discrete-time linear time-varying systems. In particular, a review and suitable analysis of the state-of-the-art of this emerging area are provided. Subsequently, the total observability problem of discrete-time linear time-varying systems is transformed into the one of checking the rank of a...
Article
Full-text available
This paper addresses the problem of fault estimation in wind turbines using a joint fault and state estimation scheme. The scheme assumes a set of possible faults affecting the dynamics of the wind turbine. Then, a combined adaptive and parameter estimation scheme is developed taking into consideration that process disturbances and sensor noises ar...
Conference Paper
The paper deals with the problem of sensor fault-tolerant control for non-linear MIMO systems. The proposed strategy is based on fault estimation strategy. The \( {\mathcal{H}}_\infty \) approach is used to design the observer. Subsequently, the control strategy for the system with faulty sensors is proposed. The fault-tolerant controller is design...
Conference Paper
The paper is devoted to the problem of a neural networkbased robust simultaneous actuator and sensor faults estimator design for the purpose of the Fault Diagnosis (FD) of non-linear systems. In particular, the methodology of designing a neural network-based H∞ fault estimator is developed. The main novelty of the approach is associated with possib...
Article
Full-text available
This paper proposes an approach for the joint state and fault estimation for a class of uncertain non-linear systems with simultaneous unknown input and actuator faults. This is achieved by designing an unknown input observer combined with a set-membership estimation in the presence of disturbances and measurement noise. The observer is designed us...
Article
The paper deals with the problem of a neural network-based robust state and actuator fault estimator design for non-linear discrete-time systems. It starts from a review of recent developments in the area of robust estimators and observers for non-linear discrete-time systems and proposes less restrictive procedure for designing a neural network-ba...
Conference Paper
Full-text available
The main objective of this paper is to provide a practical test for checking system reachability under process faults. Taking into account the unappealing phenomenon of faults, it is assumed that the knowledge about them is limited, i.e. they are known up to some confidence interval. Thus, the main objective of this paper is to provide a computatio...
Conference Paper
Full-text available
The paper is concerned with the task of robust adaptive fault estimation and an unknown input decoupling for nonlinear systems using a quadratic boundedness approach. In particular, the fault estimation strategy and decoupling of the unknown input is based on an unknown input observer. The above methods are used to describe a robust fault and state...
Conference Paper
A robust virtual sensor design is the aim of this paper. Such a sensor is used in a fault-tolerant control scheme which can be applied to wide class of non-linear systems. To deal with system non-linearity, a linear parameter-varying systems are considered. A robust virtual sensor is developed in such a way that the level of disturbances attenuatio...
Conference Paper
The paper presents the problem of a neural network-based robust state and actuator fault estimator design for non-linear discrete-time systems. At the beginning a review of recent developments in the area of robust estimators and observers for non-linear discrete-time systems is portrayed and a less restrictive procedure for designing a neural netw...
Conference Paper
Due to uncertain flight conditions as well as faults, an outdoor performance of any unmanned aerial vehicle is a challenging task. Indeed, owing to weather conditions it is entirely different that any laboratory tests. While small and radio controlled drones are relatively common devices, they are still unruly while wind blows. Moreover, process an...