Vincent Cocquempot

Université de Lille · CRIStAL Centre de Recherche en Informatique, Signal et Automatique de Lille

This paper proposes a sensor-fault detection and exclusion (FDE) approach where residuals and thresholding are developed using an informational measure called the Bhattacharya Distance (BD). An extended information filter is used for state estimation. In order to detect abnormal sensor observations, fault indicators called residuals are generated b...

In energy or communication networks, cables are omnipresent. Like any other systems, they are subject to faults. Faults in cables are divided into two families: soft faults and hard faults. Soft faults are faults that do not affect the data and/or energy transfer. However, over time they tend to turn into hard faults that can lead to a total system...

Fault detection and diagnosis are crucial to reducing risks and costs in any process. The identification of the propagation path and the variables responsible for faulty operating conditions is also vital. This paper presents a causal network-based approach to detect, diagnose, and identify root causes in multivariate processes. We discuss aspects...

This article addresses the fault-tolerant control problem of two-wheel-drive (2WD) mobile robots under actuator faults. To improve the actuation redundancy, a physical link is employed to connect two 2WD mobile robots. The kinematics and dynamics of such a two-robot system are modeled. An adaptive fault-tolerant control scheme is developed to make...

In this section, a novel FD and FE method is proposed for discrete-time switched systems. In the proposed design, an FD observer with online learning capability is utilized to generate a residual, which is obtained by comparing the system output with respect to the observer output. A fault is successfully detected if the generated residual exceeds...

In this book, some novel observer-based fault diagnosis and FTC techniques for switched systems are proposed. The FD filter design methods are summarized in Chap. 1. By using the residual signal generated in the filter, the fault can be successfully detected. Then, the fault detection, estimation and accommodation for actuator and sensor faults are...

This book focuses on the fault diagnosis observer design for the switched system. Model-based fault diagnosis and fault tolerant control are one of the most popular research directions in recent decades. It contains eight chapters. Every chapter is independent in the method of observer design, but all chapters are around the same topic. Besides, in...

Multivariate statistical process monitoring methods usually assume the Gaussianity of data. However, in practice, data are multi-modal. Therefore, it is not always reasonable and enough to use methods that only deal with the data overall covariance matrix. As the latter may wrap less information compared to the data distribution. Also, such prior a...

This section investigates the problem of FE for a continuous-time switched system with actuator and sensor faults. Firstly, based on the ADT method and switched Lyapunov function, an FE observer is designed for the augmented switched system, which can ensure that the error system is asymptotically stable with an performance index. Next, an algorith...

This chapter deals with the problems of non-fragile FEA for continuous-time switched systems are investigated. Firstly, a non-fragile PIO is designed to achieve actuator FE for continuous-time switched systems. Based on the ADT method and the switched Lyapunov function technique, a new actuator fault estimator is obtained. Then, based on the online...

In this section, the problem of actuator FD for discrete-time switched systems with output disturbance is investigated. By using the descriptor observer method, an FD filter is designed to guarantee that the augmented system is admissible and satisfies a prescribed performance index. By utilizing switched Lyapunov function approach, a sufficient co...

In this section, an observer-based fault detection method is proposed to deal with the issue of real-time-weighted fault detection for discrete-time switched systems. By employing the UIO technique and ADT method, the and performance levels are considered to ensure the robustness to the known and unknown input and the sensitivity to the fault. Fina...

In this section, the problem of robust FE observer for discrete-time switched systems with unknown input is investigated. Firstly, let the state vector and fault vector of the initial system into the state vector of the augmented system, which can obtain the augmented system. Next, based on the P-radius technique, an interval observer is designed t...

In this section, the problem of FD is investigated for continuous-time switched systems. A UIO is designed as an FD filter to generate the residual signal. To make the residual signal sensitive to the fault and robust to the unknown disturbances, we proposed designed method by employing the switched Lyapunov function and the ADT techniques. Further...

This section investigates the problems of actuator FEA for discrete-time switched systems with state delay. By using reduced-order observer method and switched Lyapunov function technique, an FE algorithm is achieved for the discrete-time switched system with actuator fault and state delay. Then based on the obtained online FE information, a switch...

This study considers the fault-tolerant control (FTC) issue for a class of linear interconnected parabolic distributed parameter systems by utilising the backstepping-based sliding mode control technique. The original interconnected system, which suffers from process/actuator faults and matched disturbances, is converted into a stable target system...

In this paper, a model-based fault detection and isolation (FDI) method is proposed, with the objective to ensure a fault-tolerant autonomous mobile robot navigation. The proposed solution uses an informational framework, which is able to detect and isolate both sensor and actuator faults, including the case of multiple faults occurrence. An inform...

This paper proposes a sensor-fault detection and exclusion (FDE) approach where residuals and thresholding are developed using an informational measure called the Bhattacharya Distance (BD). An extended information filter is used for state estimation. In order to detect abnormal sensor observations, fault indicators called residuals are generated b...

This paper proposes a sensor-fault detection and exclusion (FDE) approach where residuals and thresholding are developed using an informational measure called the Bhattacharya Distance (BD). An extended information filter is used for state estimation. In order to detect abnormal sensor observations, fault indicators called residuals are generated b...

This paper proposes a sensor-fault detection and exclusion (FDE) approach where residuals and thresholding are developed using an informational measure called the Bhattacharya Distance (BD). An extended information filter is used for state estimation. In order to detect abnormal sensor observations, fault indicators called residuals are generated b...

In this paper, the problem of robust fault estimation observer design for continuous-time switched systems subject to unknown input is investigated. Firstly, based on the average dwell-time method and the switched Lyapunov function technique, an unknown input observer is designed for the augmented switched system by eliminating the unknown input, w...

In this paper, the finite-frequency fault detection filter design for discrete-time switched systems is investigated. The frequencies of the faults and the unknown disturbance input are assumed to be finite and in three known intervals, qualified as low, middle and high frequency intervals. Based on the switched Lyapunov function and the generalize...

The paper proposes a method to select time-periods in which the measured data conform to steady-state conditions. This selection is the first step of any monitoring method based on estimating parameters of a static model. The proposed method is based on a local polynomial modeling of the data evolution and deals with multivariate data by applying p...

This paper presents a method for actuator fault estimation and fault tolerant control applied to a problem of trajectory tracking in a nonlinear system composed of three physically-linked two-wheel-drive (2WD) mobile robots. To track the reference trajectory, a kinematic controller is designed based on velocity requirements and a dynamic controller...

This paper presents a strategy to combine a fault tolerant multi-sensor data fusion with a closed loop controller scheme robust against external disturbances applied to a multirobot mobile system tracking different trajectories. Multi-sensor fusion is ensured using an information filter which is the canonical form of the Kalman filter. Fault detect...

This paper addresses the fault tolerant control (FTC) issue of switched systems by using a newly proposed concept named "generalized separation principle" (GSP), which allows us to design separately the three elements: the individual mode observer, the individual mode controller, and the switching law, and thus greatly facilitates the design in eng...

Special attention has been focused on the UIO design as they can be employed to achieve robust fault diagnosis, which is based on the disturbance decoupling principle such that the residual is insensitive to disturbances. In this chapter, the issue of robust fault estimation is studied based on the UIO, and the transient performance and convergence...

In this chapter, our objective is to propose a novel fault estimation observer with AP for continuous-time/discrete-time dynamic systems.

For analysis and design of nonlinear systems, T-S technique is a very useful tool, because T-S fuzzy model has been proved to be a good representation for a certain class of nonlinear systems and be thought of as universal approximators for the nonlinear systems. Moreover, the nonlinear systems are represented by a set of local linear models interp...

In this chapter, our objective is to propose a DFEO with AP aimed at improving fault estimation performance for a class of MAS subject to directed graphs.

As we know, there have been lots of fault estimation results obtained in continuous-time systems (Fridman et al. in Int J Robust Nonlinear Control 18(4–5): 399–412, 2008, [73], Liu et al. in IEEE Trans Fuzzy Syst 21(2): 221–229, 2013, [27], Liu and Shi in Automatica 49(5): 1242–1250, 2013, [62], Nguang in Int J Robust Nonlinear Control 16(18): 913–...

Compared the undirected case, directed graphs are more strict for communication connection among agents. Based on the adaptive approach, in this chapter, we propose a DFEO design for a class of general linear MAS subject to a directed graph. Main novelties of this work are: (1) For each agent, a local fault estimation observer is constructed using...

In this chapter, inspired by the previous work, our objective is to provide a general robust fault estimation observer scheme with finite-frequency specifications for continuous-time systems. Main contributions of this chapter are twofold: (1) Based on the generalized KYP lemma, a multi-constrained FFEO with finite-frequency specifications is propo...

In this chapter, we focus on the fault estimation issue of discrete-time MAS. Main contributions of this chapter are as follows: (1) The fault estimation observer of each node system is established based on relative output estimation errors and the global error dynamics of MAS is deduced; (2) The existence condition of the DFEO is given, which is r...

Traction systems of high-speed trains suffer with many uncertainties in their degraded process. The uncertainties mainly include the inherent uncertainty associated with the progression of the degradation over time and the inevitable uncertainty caused by noise and disturbance. Handling uncertainties is important to improve the prediction accuracy...

This paper presents a method for actuator fault estimation and fault tolerant control applied to a problem of trajectory tracking in a nonlinear system composed of three physically-linked two-wheel-drive (2WD) mobile robots. To track the reference trajectory, a kinematic controller is designed based on velocity requirements and a dynamic controller...

This paper addresses the fault-tolerant control issue of static output feedback design for flexible air-breathing hypersonic vehicles. Firstly, a longitudinal dynamic model with process faults is established, which contains an ordinary differential equation (ODE) for rigid body, an Euler-Bernoulli beam equation for elastic modes, and a new boundary...

In this paper, the problems of non-fragile fault estimation (FE) and fault accommodation (FA) for continuous-time switched systems are investigated. Firstly, a non-fragile proportional integral observer (PIO) is designed to achieve actuator FE for continuous-time switched systems. Based on the average dwell-time (ADT) method and the switched Lyapun...

This paper develops a new actuator failure compensation scheme for two linked two-wheel drive (2WD) mobile robots based on multiple-model control. First, a configuration of two linked 2WD robots is described, and their kinematics and dynamics are modeled. Then, a multiple-model based failure compensation scheme is developed to compensate for actuat...

This paper deals with the problem of actuator fault estimation observer design for discrete-time switched systems with finite-frequency. The frequencies of the fault and the unknown input disturbance are assumed to be in a finite range. A finite frequency fault estimation observer is proposed to estimate the actuator fault in the entire frequency d...

In this paper, the problem of fault detection filter design for a class of nonlinear discrete-time switched systems is investigated. Firstly, the nonlinear switched system is transferred into a T-S fuzzy switched model by using fuzzy IF-THEN rules. Then, based on the persistent dwell-time (PDT) switching signal and the quasi-time-dependent (QTD) Ly...

In this study, a novel control strategy of a three-inline array tethered spacecraft formation is proposed, based on a simplified non-linear model around the equilibrium point. The formation stability is analysed by using an interconnected system approach which deeply reveals the coupling characteristic among three spacecraft. It is shown that both...

A distributed fault estimation observer (DFEO) design is studied for multi-agent systems with switching topologies. Firstly, a local fault estimation observer is presented for each agent system based on the relative output estimation error. Then by introducing global variables, a global fault estimation observer is proposed by utilising the average...

This paper develops an actuator failure compensation control scheme for two linked mobile robots. The kinematic and dynamic models of two robots with a physical link that is employed to deal with actuator failures for two-wheel drive (2WD) mobile robots are proposed. Then, a kinematic controller is designed which is a virtual one. Based on this con...

In this paper, the problems of sensor fault estimation and accommodation for discrete-time dynamic systems are investigated. Firstly, an augmented system is constructed where the sensor fault variable is added to the state vector. Then based on the descriptor observer technique, the efficient conditions of fault estimation under the disturbance and...

This paper is concerned with the fault estimation and accommodation problem of switched systems via a new concept named “generalized separation principle”, which is principles of separation of three elements: individual observer, individual control, and switching law. Based on such a concept, sufficient fault recoverability conditions are establish...

The paper presents a new compensation control scheme to control three linked wheeled mobile robots with actuator failures. First, a configuration of three mobile robots with fixed link is described, and its kinematics and dynamics are modelled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting...

In this paper, a fault-tolerant control scheme for two physically linked two wheel drive (2WD) mobile robots with multiple and simultaneous actuator faults is proposed. The kinematic and dynamic models are first presented. A kinematic control law is designed, based on which, a dynamic control law is investigated. By applying the proposed dynamic co...

This paper develops a new adaptive compensation control scheme for two linked mobile robots with actuator failurs. A configuration with two linked two-wheel drive (2WD) mobile robots is proposed, and the modelling of its kinematics and dynamics are given. An adaptive failure compensation scheme is developed to compensate actuator failures, consisti...

This short paper develops an adaptive compensation control scheme for two physically linked two-wheel-drive mobile robots with multiple actuator faults. Kinematic and dynamic models are first proposed. Then, an adaptive control scheme is designed, which ensures system stability and asymptotic tracking properties. Simulation results verify its effec...

This book investigates observer-fault estimation techniques in detail, while also highlighting recent research and findings regarding fault estimation. Many practical control systems are subject to possible malfunctions, which may cause significant performance loss or even system instability. To improve the reliability, performance and safety of dy...

This paper proposes a Data Projection Method (DPM), to detect a mode switching and to recognize the current mode in a switching system. The main feature of this method is that the precise knowledge of the system model, i.e. the parameter values, is not needed. One direct application of this technique is Fault Detection and Identification (FDI), whe...

In this paper, a new hybrid robust fault tolerant control scheme is proposed. A robust control law is used in non-faulty situation, while a Non-Singular Terminal Sliding Mode (NTSM) controller is activated as soon as an actuator fault is detected. Since a linear robust controller is designed, the system is first linearized through the feedback line...

This paper develops a new compensation control scheme for two linked wheeled mobile robots with actuator failurs. First, a configuration of two linked two-wheel drive (2WD) mobile robots is described, and its kinematics and dynamics are modeled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting...

In this paper, an observer is designed with the objective to detect leakages in pressurized water pipes. Three known time-varying measures at boundary (namely inlet and outlet pressures and inlet flow rate) are used to estimate the fourth boundary variable (namely outlet flow rate). A general nonlinear PDE model of the pipe is used to design the bo...

In this study, the problem of fault estimation observer design with finite-time convergence specification for continuous-time dynamic systems subject to external disturbances. First, the unknown input observer is constructed to achieve accurate estimation of the occurred fault and to guarantee robustness against the disturbance. Then a pole placeme...

This paper addresses an adjustable parameter (AP)-based multi-objective fault estimation design for continuous-time/discrete-time dynamic systems. First, a fault estimation observer with AP is constructed to on-line identify the size of occurred faults. The fault estimation design not only possesses a wider application compared with adaptive observ...

This paper investigates the problem of fuzzy unknown input observer (FUIO)-based fault estimation for discrete-time Takagi–Sugeno fuzzy systems. Firstly, an augmented system description is given. Then a FUIO is proposed to achieve fault estimation, which is robust against the effect of the external disturbance. Furthermore, a less conservative FUIO...

This paper presents an active fault tolerant control (AFTC) strategy for preserving the path tracking for an autonomous 2 wheel-steering 4 wheel-driving (2WS4WD) electrical vehicle in the presence of an actuator fault. It is based on a decentralized fault tolerant control strategy for overactuated systems. The strategy consists of generating new RE...

This paper investigates attitude stabilization problem of three-inline array tethered spacecraft formation. A simplified nonlinear model around the equilibrium point is presented under which a novel decentralized formation control scheme is proposed, where the coupling among spacecraft is fully considered by using interconnected system approach and...

This paper deals with state estimation on a pressurized water pipe modeled by nonlinear coupled distributed hyperbolic equations for non-conservative laws with three known boundary measures. Our objective is to estimate the fourth boundary variable, which will be useful for leakage detection. Two approaches are studied. Firstly, the distributed hyp...

In this study, under the directed communication topology, an adaptive observer-based distributed fault estimation observer (DFEO) is studied with the use of a linear matrix inequality (LMI) for multi-agent systems. Firstly, for each agent, a corresponding fault estimation observer is constructed based on their relative output estimation errors. To...

We would like to thank the authors for their excellent contributions and patience in assisting us. Finally, the fundamental work of all the reviewers of these papers is also very warmly acknowledged.

A fault-tolerant control (FTC) scheme for the path tracking of an electric vehicle (EV), which has four electromechanical wheel systems, is proposed. With wheel slip constraints and certain faults, a passive fault-tolerant controller based on the low-high gain control is developed to maintain the system's stability and guarantee an acceptable perfo...

This work addresses the issues of actuator fault detection and isolation for diesel engines. We are particularly interested in faults affecting the exhaust gas recirculation (EGR) and the variable geometry turbocharger (VGT) actuator valves. A bank of observer-based residuals is designed using a nonlinear mean value model of diesel engines. Each re...

This work addresses the issues of actuator fault detection and isolation for diesel engines. We are particularly interested in faults affecting the exhaust gas recirculation (EGR) and the variable geometry turbocharger (VGT) actuator valves. A bank of observer-based residuals is designed using a nonlinear mean value model of diesel engines. Each re...

This paper is concerned with Fault Detection and Isolation for induction motors. A new procedure for the calculation of the ARR (Analytical Redundancy Relations) is presented. This method is based on the elimination of the unknown variables (states, unknown inputs,...) in the model equations. Simulation results are presented in normal situation and...