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Fault Diagnosis of the Microscope Satellite Thrusters using Hinf/H- Filters
... For reasons of brevity, we will attempt to avoid repeating the technical background presented in the work. 10 To this end, the focus of this section will lie wholly with the model given by Eqs. (6a)-(6b) and we invite the reader to refer to previous mentioned work 10 for further details. ...
... 10 To this end, the focus of this section will lie wholly with the model given by Eqs. (6a)-(6b) and we invite the reader to refer to previous mentioned work 10 for further details. The application support is inspired by the Microscope satellite mission. ...
... 13 The satellite combines simultaneously a rotational motion ω o around the Earth on a sun-synchronous, quasi-circular dawn-dusk orbit, while performing simultaneously a rotation around its y-axis ω s , see Figure 1 and the works. 10,13,18 The tracking of the trajectory is ensured by a AACS (Attitude and Acceleration Control System), whose schematic structure is illustrated in Figure 1. The references are set to '0', which means that the satellite is enforced to ensure its rotation around Earth at velocity ω o while spinning at ω s around its y-axis. ...
This paper investigates a new H∞ interval filter design methodology and presents an innovative application of the filter developed to estimate satellite true attitude state for navigation units in space missions. The key element of the proposed approach is to use an interval filter structure advantage, rather than an observer-based structure (relying only on a system dynamics structure). Indeed, the interval filter design is an emerging research field, the design problem is formulated as an arbitrary order generic state-space realization. Thus, such state-space realization offers more degrees of freedom in its design, since it relies on a synthesis which is solved on an order which can be inferior, superior or equal to the system state space order, improving the interval state estimation performance, in a H ∞-gain criterion sense. The H∞ theory is used to enhance robustness against sensor misalignment errors, noises unknown inputs and disturbances for satellite missions application.
... Such a solution requires obviously a (reliable) fault diagnosis unit, so that the control allocation algorithm is aware about the faulty thrusters. The interested reader can refer to [33,22,37,65,34,35] for the development of modelbased diagnosis solutions applied to real space missions 4 . This FTC strategy is used in [15] with a time-varying terminal SMC approach and in [28] in cooperation with an adaptive integral SMC technique. ...
... Thus, with the adequate definition for f , one can cover a very large class of fault profile. In particular, f can take the following form [33], ...
... and thus, that an estimate of the disturbances and fault torques (sum of the two terms τ (c) ct d and τ (c) c f ) can be derived directly from (33). ...
... Such a solution requires obviously a (reliable) fault diagnosis unit, so that the control allocation algorithm is aware about the faulty thrusters. The interested reader can refer to [33,22,37,65,34,35] for the development of model-based diagnosis solutions applied to real space missions. 4 This FTC strategy is used in [15] with a time-varying terminal SMC approach and in [28] in cooperation with an adaptive integral SMC technique. ...
... Numerical value of the main characteristics of the chaser spacecraft (derived from the Microscope satellite [33], and the spacecraft involved in the ESA's Mars Sample Return [37,34] and e.Deorbit [7,10,35] ...
... Thus, with the adequate definition for f , one can cover a very large class of fault profile. In particular, f can take the following form [33], ...
This paper addresses the design of a sliding mode fault-tolerant control scheme for a particular class of actuator faults, for Rendezvous space missions with a passive target. The technique is based on a Super-Twisting controller, scheduled by a fault estimator. The core element of the proposed design technique is that it is based on the Dual-Quaternion formalism that enables to take into account the coupling between relative position and attitude motions. It is proved that the control law converges to the sliding surface in finite time. Stability on it is too proved by means of the Lyapunov theory. Finally, simulations results from a high-fidelity simulator that considers solar arrays flexible modes, propellant sloshing, and the most dimensioning space disturbances (i.e. gravity gradient, magnetic field, solar pressure, and aerodynamic drag), demonstrate the potential of the proposed solution.
... Such a solution requires obviously a (reliable) fault diagnosis unit, so that the control allocation algorithm is aware about the faulty thrusters. The interested reader can refer to [33,22,37,65,34,35] for the development of modelbased diagnosis solutions applied to real space missions 4 . This FTC strategy is used in [15] with a time-varying terminal SMC approach and in [28] in cooperation with an adaptive integral SMC technique. ...
... Thus, with the adequate definition for f , one can cover a very large class of fault profile. In particular, f can take the following form [33], ...
... and thus, that an estimate of the disturbances and fault torques (sum of the two terms τ (c) ct d and τ (c) c f ) can be derived directly from (33). ...
The goal pursued by this article, is to evaluate the potential of sliding-mode control and estimation techniques, to address fault tolerance against a large class of actuator faults, including loss of controllability of the faulty actuator, for autonomous rendezvous between a chaser spacecraft and a passive spacecraft on a circular orbit. The proposed solution is based on the dual quaternion formalism, to describe in a single equation, rotational and translational spacecraft dynamics, solar array flexible modes, propellant sloshing, the most dimensioning space disturbances, and their coupling. Such a modelling formalism enables to propose a six degree-of-freedom fault tolerant control architecture, which relies on the generalized super-twisting control algorithm nested with a nonlinear fault estimator. An anti-windup strategy based on polytope algebra is applied to the control algorithm, to prevent instability due to actuator saturation when faults occur. Asymptotic stability of the proposed fault-tolerant control scheme is formally proved with respect to a wide variety of faults, providing that the first derivatives of the fault estimation error versus time and the sliding surface, are bounded. Intensive simulations from a functional engineering simulator that accurately simulates the rendezvous mission, are presented in the paper, as well as capture-oriented criteria. The presented results demonstrate that the proposed fault-tolerant solution is able to cover any kind of thruster faults, including total loss of controllability of the faulty thruster, as well as solar array flexible modes, propellant sloshing, gravity gradient, the second zonal harmonic, atmospheric drag and magnetic disturbances.
... The second problem can be managed adequately, by introducing judiciously chosen weighting functions on T f r (∆) and Tdr(∆) as it has been done in e.g. [24,25,26,19,21]. However, the first problem remains. ...
... If h = 0, then 0 ∈ ∂f ∞ (x)) and we are done. So, a stopping test can be formulated based on the solution to (19). A key fact about (19) is that the direction h can be used in an Armijo or Wolfe line search [5] which terminates after finitely many steps. ...
... So, a stopping test can be formulated based on the solution to (19). A key fact about (19) is that the direction h can be used in an Armijo or Wolfe line search [5] which terminates after finitely many steps. Note that in order to accelerate convergence, it is proposed in [1] to use a frequencies bracketing global maxima strategy, jointly with including frequencies corresponding to secondary peaks. ...
This paper deals with model-based fault detection and isolation problems, for linear time invariant systems subject to a large class of uncertainties and disturbances. A new approach based on non-smooth optimization techniques, is proposed to synthesize a state–space realization of the fault detection filter, within the H∞/H− setting. A set of new criteria for robust fault detection performance analysis is too proposed, using the generalized structured singular value theory. The proposed theories are illustrated on a satellite example, under a large class of nonlinear dependent uncertainties. Through a deep analysis of the example, it is shown how the H∞/H− design – μg analysis tools can serve as a general theory, to solve fault detection problems.
... • and the so-called norm-based approaches sometimes referred to as the approximate decoupling approach. These approaches can be further classified according to the previous discussion as fault-estimation approaches [58,59,60,61,62,63,64,65] and residual generation approaches [65,66,67,68,69,70,71,72,73,74,75]. ...
... In [66], the proposed method is based on a H(0) filter with robust poles assignment for fault detection and a cross-correlation test for fault isolation in thrusters. The H ∞ /H − approach is considered for micro-Newton colloidal thruster faults during the experiment phase for the LISA Pathfinder experiment in [80] and in [71], H ∞ /H − filter-based strategies are also proposed to diagnose thruster faults for the Microscope spacecraft. The same technique is also proposed in [75] for thruster faults in the chaser spacecraft of the Mars Sample Return mission. ...
... It should be outlined that developments within the H ∞ /H − setting [68,69,71,74] are obviously presented in the following due to the use of the H ∞ /H − fault detector. However, the central theoretical contribution of this chapter is focused on the novel class of the UIOs satisfying a H ∞ performance presented in section 4.1. ...
... • and the so-called norm-based approaches sometimes referred to as the approximate decoupling approach. These approaches can be further classified according to the previous discussion as fault-estimation approaches [58,59,60,61,62,63,64,65] and residual generation approaches [65,66,67,68,69,70,71,72,73,74,75]. ...
... In [66], the proposed method is based on a H(0) filter with robust poles assignment for fault detection and a cross-correlation test for fault isolation in thrusters. The H ∞ /H − approach is considered for micro-Newton colloidal thruster faults during the experiment phase for the LISA Pathfinder experiment in [80] and in [71], H ∞ /H − filter-based strategies are also proposed to diagnose thruster faults for the Microscope spacecraft. The same technique is also proposed in [75] for thruster faults in the chaser spacecraft of the Mars Sample Return mission. ...
... It should be outlined that developments within the H ∞ /H − setting [68,69,71,74] are obviously presented in the following due to the use of the H ∞ /H − fault detector. However, the central theoretical contribution of this chapter is focused on the novel class of the UIOs satisfying a H ∞ performance presented in section 4.1. ...
... An estimate of their degree of severity is provided too. The H ∞ /H − approach is considered for micro-Newton colloidal thruster faults during the experiment phase for the LISA Pathfinder experiment in (Falcoz et al., 2010) and in (Henry, 2008), H ∞ /H − filter-based strategies are also proposed to diagnose field emission electric propulsion thruster faults for the Microscope satellite. Finally, a pure H ∞ FDI strategy is proposed in (Kerr et al., 2008;Kerr et al., 2009) for control surface faults in the Hopper re-entry vehicle. ...
... An estimate of their degree of severity is provided too. The H ∞ /H − approach is considered for micro-Newton colloidal thruster faults during the experiment phase for the LISA Pathfinder experiment in (Falcoz et al., 2010) and in (Henry, 2008), H ∞ /H − filter-based strategies are also proposed to diagnose field emission electric propulsion thruster faults for the Microscope satellite. Finally, a pure H ∞ FDI strategy is proposed in (Kerr et al., 2008;Kerr et al., 2009) Abstract: The research work presented in the paper addresses the design of a model-based fault diagnosis and fault recovery system for any faults occurring in the actuator and sensor units of the chaser spacecraft of the ESA Mars Sample Return (MSR) mission. ...
... An estimate of their degree of severity is provided too. The H ∞ /H − approach is considered for micro-Newton colloidal thruster faults during the experiment phase for the LISA Pathfinder experiment in (Falcoz et al., 2010) and in (Henry, 2008), H ∞ /H − filter-based strategies are also proposed to diagnose field emission electric propulsion thruster faults for the Microscope satellite. Finally, a pure H ∞ FDI strategy is proposed in (Kerr et al., 2008;Kerr et al., 2009) Henry et al. / IFAC-PapersOnLine 49-5 (2016) 266-271 267 strategy can be summarized as follows: The level 0 deals with failures having no impact on the satellite/spacecraft sub-system performances and matches faults which can be recovered by local correction. ...
The research work presented in the paper addresses the design of a model-based fault diagnosis and fault recovery system for any faults occurring in the actuator and sensor units of the chaser spacecraft of the ESA Mars Sample Return (MSR) mission. Key features of the proposed method are the use of a parity space and covariance-based strategy with jointly a H∞ observer for fault diagnosis of sensor faults, a H∞/H- filter for robust fault detection of actuator faults and a bank of unknown input observers jointly used with a dot product of vectors strategy for actuator faults. For fault accommodation, a ”retreat” FDIR strategy scheduled by the FDI unit, is retained. The proposed FDIR architecture obeys to a hierarchical one and fits the industrial requirements. Especially, it is compliant with the Aurora avionics architecture. A simulation campaign, based on a nonlinear high-fidelity simulator developed by GMV space and Thales Alenia Space industries, is conducted under highly realistic conditions.
... To overcome this problem, the H ∞ methods proposed in (Mangoubi, 1998;Henry and Zolghadri, 2005a;Henry and Zolghadri, 2005b;Castro et al., 2006b;Castro et al., 2006a;Henry, 2008) can be used. The proposed methods can be classified in ...
... • fault signal estimation based approaches: see (Mangoubi, 1998;Castro et al., 2006b;Castro et al., 2006a) • and residuals generation based approaches: see (Henry and Zolghadri, 2005a;Henry, 2008) A great advantage of these methods is that the used framework (i.e. the H ∞ framework) makes easy to put a large range of robustness objectives within the design procedure, e.g. against various disturbances, perturbations and model uncertainties. ...
... To overcome this problem, a FDI scheme that consists of a bank of 12 H ∞ /H − residual generators is proposed in (Henry, 2008). The design is done so that the sensitivity level of the ith residual with respect to the ith FEEP thruster fault f i is maximised in the H − -norm sense, whilst guaranteeing robustness against measurement noises n and spatial disturbances h(̟ α , ̟ spin ) in the H ∞ -norm sense. ...
The purpose of this paper is to address the issue of fault diagnosis, fault tolerant control and recovery actions in the aeronautic and aerospace filed. Following the AIAA (American Institute of Aeronautics and Astronautics) database, more than 400 papers have been published within this topic. Thus, the goal of this paper is not to give an exhaustive list of existing methods (hardware and model-based), but to describe those that have been successfully applied in the aeronautic and aerospace fields.
... -the so-called norm-based approaches sometimes referred as the approximate decoupling approach. These approaches can be further classified according to the previous discussion as fault-estimation approaches [44,45,46,47,48,49,50,51,52] and residual generation approaches [43,53,54,55,56,57,58,52,59,60,9]. ...
... Two general approaches are presented to design robust FDI filters for LPV systems under feedback control: the so-called "polytopic" and "LFR" approaches. The methods are a generalization to the fault detection generators design problem for LPV systems of the H ∞ /H − method initially proposed in [57] and further considered in [58,52,60,78,9]. The approach consists in designing an optimal FDI filter that maximizes fault sensitivity performance (in the H − -norm sense), and simultaneously minimizes the influence of unknown inputs (in the H ∞ -norm sense). ...
... In this chapter, two general approaches are presented to design robust FDI filters for LPV systems under feedback control. The method is a generalization to the fault detection generators design problem for LPV systems of the H ∞ /H − method initially proposed in [57] and further considered in [58,52,60,78,9]. The approach consists in designing an optimal FDI filter that maximizes fault sensitivity performance (in the H − -norm sense), and simultaneously minimizes the influence of unknown inputs (in the H ∞ -norm sense). ...
This chapter investigates the design of robust fault detection and isolation (FDI) filters for linear parameter varying (LPV) systems. The goal is to obtain structured fault detection filters with enhanced fault transmission H_ gain and large H
∞ nuisance attenuation. Both the so-called polytopic and Linear Fractional Representation (LFR) approaches are considered.With respect to the polytopic approach, a sufficient condition is established to guarantee sensitivity performance of the residual signal vector to faults. Robustness constraints against model perturbations and disturbances are also taken into account in the design method. A key feature of the proposed method is that the residual structuring matrices are optimized as an integral part of the design, together with the dynamic part (i.e. the filter). The design problem is formulated as a convex optimization problem and solved using LMI (Linear Matrix Inequalities) techniques.With regards to the LFR approach, it is shown by means of the scaling matrices technique that the synthesis of the residual structuring and the filter state space matrices can be performed simultaneously using LMI techniques. Computational aspects are discussed and it is shown that the proposed solution is structurally well-defined. Academic examples are considered and discussed all along the chapter. A benchmark from the European FP7 funded ADDSAFE (Advanced Fault Diagnosis for Sustainable Flight Guidance and Control) project is finally considered to demonstrate the potential of the proposed approaches. The goal is to propose new fault detection and fault diagnosis techniques that could significantly help developing environmentally-friendlier aircraft. A LPV)model-based fault detection scheme is presented for robust and early detection of faults in aircraft control surfaces servo-loop. A complete MonteCarlo campaign from a ”high-fidelity” simulator provided by AIRBUS, demonstrates the potential of the proposed technique. It is shown that the proposed fault detection scheme can be embedded within the structure of in-service monitoring systems as a part of the Flight Control Computer (FCC) software.
... More precisely, the nonlinearities come from the polynomial functions introduced to model F aero and the square root function. Despite recent developments on LFRs allow to consider the polynomial and rational dependencies in θ i , ξ j , i = 1...5, j = 1, 2, there is no available technique able to derive from (15) and (16) an exact LFR for the model (14). Thus, a solution to this problem results in the introduction of hyper-parameters, leading obviously to a conservative LFR. ...
... This choice is guided by the fact that dim(x) = 1 and thus, that the conservativeness introduced by this choise is not thought so high. Then, it could be verified that (14) admits the LPV LFR ...
... Then, it could be verified that (14) admits the following LPV LFR under the assumption that the variations of the sound speed are neglected (this allows us to express P d in terms of ρ and M ach): ...
The work presented in this paper is undertaken within the European FP7 funded ADDSAFE project. The goal is to propose new fault diagnosis techniques that could significantly help developing environmentally-friendlier aircraft, by optimizing structural load design objectives. In this paper, a model-based fault detection scheme is proposed for robust and early detection of faults in aircraft control surfaces servo-loops. The proposed methodology is based on the H1/H-- technique proposed in (Henry and Zolghadri, 2005a; Henry and Zolghadri, 2005b). The goal is to obtain a fault detection filter with enhanced fault transmission H-- gain and large H1 nuisance attenuation. A complete Monte-Carlo campaign realized through a "high-fidelity" simulator provided by AIRBUS, demonstrates the potential of the proposed technique.
... The proposed solution corresponds to a complete design/analysis cycle based on the precursor methodological work reported in 1, 2 and further investigated in e.g. [12][13][14][15][16][17][18] for aerospace applications. The method provides a practically relevant and general framework in which various design goals and trade-offs are formulated and managed. ...
... More precisely, the nonlinearities come from the polynomial functions introduced to model F aero and the square root function. Despite recent developments on LFRs allow to consider the polynomial and rational dependencies in θ i , ξ j , i = 1...5, j = 1, 2, there is no available technique able to derive from (15) and (16) an exact LFR for the model (14). Thus, a solution to this problem results in the introduction of hyper-parameters, leading obviously to a conservative LFR. ...
... This choice is guided by the fact that dim(x) = 1 and thus, that the conservativeness introduced by this choise is not thought so high. Then, it could be verified that (14) admits the LPV LFR ...
This paper discusses the design of a model-based fault detection scheme for robust and early detection of faults in aircraft control surfaces servo-loop. The proposed scheme can be embedded within the structure of in-service monitoring systems as a part of the Flight Control Computer (FCC) software. The final goal is to contribute to improve the detection performance of specific faults having very different dynamic behaviors, with no false alarms. The proposed methodology is based on a slightly modified version of the H∞/H- technique proposed in.1,2 Simulation results using a "high-fidelity" simulator provided by Airbus, are presented to demonstrate the potential of the proposed technique. The presented work is undertaken within the FP7-ADDSAFEa project which develops collaborative efforts in Europe to propose new fault diagnosis techniques that could significantly advance the aircrafts performance, e.g. by optimizing the aircraft structural design (weight saving) or decreasing its environmental footprint (e.g. less fuel consumption and noise). © 2011 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.
... Problem 3.1 could also be interpreted as a multiobjective optimization problem whereby the choice of γ 1 and γ 2 is guided by the Pareto optimal points, see [48] for a discussion on solving Pareto multi-criteria optimization problems. However, in practice, γ 1 and γ 2 are better considered as parameters to be selected by the designer since finding "optimal" values is highly related to the system under consideration, see for instance [49,50,51,52]. ...
... Faults having similar frequency characteristics as those of disturbances might go undetected. In such cases, the proposed formulation provides a framework to find a good balance between fault sensitivity and robustness via the construction of the shaping filters W d and W f , see for instance [49,50,51,52] where practical cases are considered. Finally, it should be outlined that the combination of (10) and (11) into (12) may yield conservative results as the performance objective includes two additional channels (i.e., Td →r (θ) and T f →r (θ)) that are not interesting or even disturbing. ...
... Note that in some cases, D F 11 may be found to be zero vanishing the need of additional constraints on M . This fact has already been observed in e.g., [49,50,51,52]. ...
This paper investigates the design of robust‡ fault detection and isolation filters for linear parameter-varying systems modeled in a linear fractional representation fashion. The goal is to obtain structured fault detection filters with enhanced fault transmission H− gain and large H∞ nuisance attenuation. It is shown by means of the scaling matrices technique and the projection lemma that the synthesis of the residual structuring and the filter state-space matrices can be performed simultaneously using linear matrix inequality optimization techniques. Computational aspects are discussed and it is shown that the proposed solution is structurally well defined. Closed-loop time simulations demonstrate the efficiency of the proposed method. Copyright © 2011 John Wiley & Sons, Ltd.
... This particular technological context motivated ESA to manage studies to develop fault detection, isolation (FDI) and tolerant control (FTC) solutions for the propulsion unit of the chaser platform. 1 6 Przemyslowy Instytut Automatyki i Pomiarów (PIAP), Jerozolimskie 202, 02-486 Warsaw, Poland, (jaroslaw.jaworski@piapspace.com) 7 NTUA, 9 Heroon Polytechneiou, GR-15780 Zografou, Athens, Greece, (egpapado@central.ntua.gr) 8 ESA/ESTEC, Keplerlaan 1, 2201 AZ Noordwijk, Netherlands, (Gianfranco.Visentin,Finn.Ankersen,jesus.gil.fernandez@esa.int) ...
... A solution is developed based on the H ∞ /H − theory and a bank of unknown input observers jointly used with a crosscorrelation test for fault isolation. The H ∞ /H − approach is considered for micro-Newton colloidal thruster faults during the experiment phase for the LISA Pathfinder experiment in [3] and in [6], H ∞ /H − filter-based strategies are also proposed to diagnose thruster faults for the Microscope satellite. Thruster faults during station keeping manoeuvres are considered for telecom satellites in [2]. ...
The ESA (European Space Agency) is currently pursuing the development of the e.Deorbit mission that will remove a large defunct satellite from Earth orbit: ENVISAT. To fulfil the mission autonomy requirements, ESA has decided to embed in the GNC (Guidance, Navigation, Control) software, fault tolerance capacities against actuator faults. The aim of this paper is to present the development and validation of a model-based fault diagnosis and tolerant control solution for such faults. The proposed solution is based on a new class of nonlinear unknown input observers, optimal in the L2 -gain sense, and a modified version of the nonlinear inverse pseudo control allocation technique. An intensive simulation campaign conducted within a high-fidelity nonlinear industrial simulator, demonstrates the efficiency of the approach.
... As it has been already stated in [21], [22], thruster faults affect in a more severe manner the rotational dynamics than the translational ones. Furthermore, it has been shown in these papers that the Euler's angle (or quaternion) measurement is not necessary. ...
... With regards to the possible faults occurring in the thruster-based propulsion system, the focus is on the "stuck-open" and "stuck-closed " faults type. Such faults can be modelled in a multiplicative manner as can be seen in [21], [22]. ...
Extending life or repairing damaged on-orbit assets is not only a very attractive economic option for satellite operators as it could potentially increase margins for commercial services or increasing delivered value of scientific missions, but it would also help reducing the number of debris objects in space. These types of servicing missions pose technical challenges never faced until now. Of utmost relevance is the autonomous control of several movable devices, whose dynamics are inter-coupled (e.g., spacecraft platform, robotic manipulator, and end-effector), needed to safely and effectively achieve the mission objective. In the frame of ESA-supported COMRADE study, fully combined control (single control system controlling simultaneously all movable devices) is proposed due to its higher improvement potential (propellant saving, performances increase, safety) w.r.t. tele-operation, decoupled and/or collaborative control (the last one characterized by the use of two different control systems for the spacecraft platform and robotic manipulator respectively but, differently to the decoupled version, with information/feedback about what the other control system intends to do). Two independent combined control designs are developed in COMRADE (H∞ and nonlinear Lyapunov-based), and tested. Each of them is applied for both Active Debris Removal (ADR) and servicing/re-fuelling mission scenarios. This paper presents: the processes of scenario analysis and derivation of COMRADE system requirements; a description of the design and setup for a Simulator, which included at its core the selection, prototyping and integration of algorithms for Guidance, Navigation and Control (GNC), Modes Management (AMM) and Failures Detection, Isolation and Recovery (FDIR) (all three together compose the COMRADE system) and the outcomes of the simulation phase of the Verification & Validation process.
... Actually, we can easily obtain the test data and the telemetry data of power system. Consequently, data-driven fault diagnosis of power system has higher necessity and feasibility rather than model-based approaches [1,2]. However, the hybrid and massive characteristics of the satellite power system data bring great challenges to data-driven fault diagnosis. ...
... Thus, there are three statuses in the test data, i.e., Health, Fault 1 and Fault 2. All the experiments run on the same hardware and software platforms (4.0 GHz Intel Core i7 CPU; 8GB RAM, Windows10, MATLAB R2016b), and the parameters of VPFNRS model are that λ is 0.1, α is 0.85 and ρ is 0.5. All the numerical attributes are first normalized into the interval [0,1], which do not affect the rule acquisition and diagnosis. ...
... 1. The FDI (Fault Detection and Isolation) community whose foundations are based on engineering disciplines such as control theory and statistical decision making (see for instance [5], [10], [13], [15], [17], [26], [31] for a survey). 2. The DX (Diagnosis) community whose foundations are derived from the fields of Computer Science and Artificial ...
... In the aerospace domain, there exist many successful applications of FDI methods, see for instance the parity space-based approaches [34], the particle filtering-based algorithms ( [9] and [16]), the fault detection observer-based approaches ( [19], [27]) and the H ∞ filtering methods ( [7], [13]). These research works have focused on the design of robust FDI solutions such that the fault indicators are sensitive to one or more faults whilst at the same time these indicators are insensitive to modeling errors and disturbance effects (see for instance [10], [11] and [26]). ...
In this paper, a methodology is proposed to deal with the problem of multiple and simultaneous fault isolation on large systems. The goal which is pursued, is to merge already in place fault indicating signals and model-based fault indicating signals (i.e. the residuals), in order to solve the isolation problem. Behind this goal, the problem of the minimal number of residuals is addressed. This includes the answer to the question: Do we really need model-based residuals to completely solve the diagnosis problem? To handle this diagnosis problem, logical tools and formulas derived from the set theory are used to describe sets of decisions. To demonstrate the efficiency of the method, two examples are presented. The first one, of academic nature, aims at illustrating comprehensively the proposed method. The second one comes from a real system.
... 1. Les techniques visant à estimer les défauts, voir par exemple (Mangoubi et.al., 1992 ;Edelmayer et.al., 1996 ;Mangoubi, 1998 ;Rank and Niemann, 1999 ;Collins and Song, 2000 ;Stoorvogel et.al., 2002 ;Stoustrup and Niemann, 2002 ;Marcos et.al., 2005 ;Henry and Zolghadri, 2006) 2. Les techniques basées sur la génération de résidus au sens classique du terme, voir par exemple (Chen and Patton, 1999 ;Ding et.al., 2000 ;Hamelin and I.2. Méthodes de génération des signaux indicateurs de défauts Rambeaux et.al., 2000 ;Zhong et.al., 2003 ;Henry and Zolghadri, 2005a ;Henry and Zolghadri, 2005b ;Lui et.al., 2005 ;Henry and Zolghadri, 2006 ;Jaimoukha et.al., 2006 ;Henry, 2008) Il est à noter que (Ding et.al., 2000) a montré que toutes ces approches étaient des paramétrisations particulières de la relation (I.1). Les travaux de (Patton and Chen, 1991b ;Cocquempot, 1992 ;Delmaire et.al., 1994 ;Delmaire et.al., 1995 ;Gertler, 1995 ;Garcia and Frank, 1996 ;Nuninger et.al., 1996 ;Nuninger et.al., 1997 ;Delmaire et.al., 1999) (Ljung, 1999 ;Crassidis and Junkins, 2004)). ...
... Ces dernières reposent sur la synthèse d'un ltre dynamique tel que le signal indicateur de défauts soit une estimation des défauts. 2. Des approches basées sur la génération de résidus Zolghadri, 2005a, Henry andZolghadri, 2005b ;Falcoz et.al., 2008a ;Henry, 2008). Ces approches reposent sur la synthèse conjointe d'un ltre dynamique et de deux matrices de structuration statiques M y et M u en charge de faire fusionner de façon optimale (au sens H ∞ /H − ) les informations issues des chaînes de mesure et des signaux de commande. ...
The work presented in this thesis deals with the synthesis of algorithms for the diagnosis of simple and multiple faults. The main objective which is pursued is to design a fault diagnosis scheme by merging a minimum number of analytic redundancy with the available hardware redundancy. The main contribution of the proposed technique concerns the general architecture of the proposed diagnosis method. The originality of the research work is the combination of ideas and tools originated from two research communities : the FDI (Fault Detection and Isolation) community and the DX (Diagnosis) community whose foundations are derived from Computer Science and Artificial Intelligence fields. Hence, the fault detection problem (as well as the isolation task when structural constraints allow it) is solved by means of FDI techniques while the fault isolation problem is solved through the DX approaches, thus resulting in an aggregated methodology. The proposed method is divided in two steps. The first step deals with the construction of a mutually exclusive signature matrix. Hence, the problem of the minimal number of analytic redundancy relations (ARR), necessary for generating a diagnosis without any ambiguity, is treated. This problem is formalised as an optimized problem under constraints which is efficiently solved by means of a genetic algorithm. The second step concerns the generation of diagnoses. Thus, for an observed situation, the identification of conflicts results in the determination of the non satisfied ARRs for the given observation. The diagnoses are obtained by means an algorithm based on the concept of MNF (Maximal Normal Form) formulas. The main interest of this approach is its capacity to deal with the diagnosis of simple and multiple faults as well as the diagnosis of multi-modes faults (i.e., multiple types of faults) associated to each component of the system. Furthermore, it exists proofs on optimality both at a local level (proof of robustness/sensitivity) and at a global level (proof of minimal diagnoses). The proposed method is applied to the Mars Sample Return (MSR) mission. This spacecraft mission, undertaken jointly by the National Aeronautics and Space Administration (NASA) and the European Space Agency (ESA), aims at returning tangible samples from Mars atmosphere and ground to Earth for analysis. The critical phase of the mission is the rendezvous phase between the sample container vehicle and the orbiter spacecraft. The research work aims at realising sensor fault diagnosis on the orbiter during the rendezvous phase of the mission. Simulation results from the MSR high fidelity simulator, provided by Thalès Alenia Space, demonstrate the feasibility and the efficiency of the proposed approach.
... 1. The FDI (Fault Detection and Isolation) community whose foundations are based on engineering disciplines such as control theory and statistical decision making (see for instance [5], [10], [13], [15], [17], [26], [31] for a survey). 2. The DX (Diagnosis) community whose foundations are derived from the fields of Computer Science and Artificial ...
... In the aerospace domain, there exist many successful applications of FDI methods, see for instance the parity space-based approaches [34], the particle filtering-based algorithms ( [9] and [16]), the fault detection observer-based approaches ( [19], [27]) and the H ∞ filtering methods ( [7], [13]). These research works have focused on the design of robust FDI solutions such that the fault indicators are sensitive to one or more faults whilst at the same time these indicators are insensitive to modeling errors and disturbance effects (see for instance [10], [11] and [26]). ...
... The problem of thruster faults is however less studied. Among other examples, methods based on the so-called unknown input observer (UIO) technique were applied to the Mars Express mission [11,12]; an iterative learning observer (ILO) was designed to achieve estimation of timevarying thruster faults [10]; H ∞ /H − filters were used to addresses the problem of thruster fault diagnosis in the Microscope satellite [13] and also the problem of faults affecting the micro-Newton colloidal thrust system of the LISA Pathfinder experiment [14]. Both H ∞ /H − filters are based on a residual generator, that is robust against spatial disturbances (e.g., J 2 disturbances, atmospheric drag and solar radiation), measurement noises and sensor misalignment phenomena, whilst guaranteeing some fault sensitivity performance. ...
... Finally, noting that the chaser is controlled around the equilibrium point Θ = 0 and ω = 0, one can derive from Eqs. (13)(14) a linear model by means of a first-order approximation of the nonlinear equations ...
This paper deals with performance and reliability evaluation of a fault diagnosis scheme based on two distinct models to detect and isolate a single thruster fault affecting a chasing spacecraft during rendezvous with a passive target in a circular orbit. The analysis is conducted in the frame of a terminal rendezvous sequence of the Mars Sample Return mission. A complete description of a robust residual generation design approach based on eigenstructure assignment is presented. Unknown time-varying delays, induced by the thruster drive electronics and uncertainties on thruster rise times, are considered as unknown inputs. Particular novelty of the work is a new method for estimating the unknown input directions used to enhance the robustness properties of the diagnosis scheme. Monte Carlo results from a high-fidelity industrial simulator and carefully selected performance and reliability indices allows us to evaluate the effectiveness of both schemes. The obtained results reveal that the proposed fault diagnosis scheme based on a position model is a justified competitor to the conventionally used attitude model-based scheme.
... To overcome this problem, the H ∞ methods proposed in (Mangoubi 1998, Henry et al. 2001, Marcos et al. 2005a, Henry and Zolghadri 2005a, Henry and Zolghadri 2005b, Castro et al. 2006b, Castro et al. 2006a, Henry 2008 can be used. The proposed methods can be classified as fault signal estimation based approaches (Mangoubi 1998, Marcos et al. 2005a, Castro et al. 2006b, Castro et al. 2006a) and residuals generation based approaches (Henry et al. 2001, Henry et al. 2002, Henry and Zolgahdri 2003, Henry and Zolghadri 2005a, Henry and Zolghadri 2005b, Henry 2008 A great advantage of these methods is that the framework employed (i.e. the H ∞ framework) facilitates the inclusion of several robustness objectives within the design procedure, e.g. against various disturbances, perturbations and model uncertainties. ...
... To overcome this problem, the H ∞ methods proposed in (Mangoubi 1998, Henry et al. 2001, Marcos et al. 2005a, Henry and Zolghadri 2005a, Henry and Zolghadri 2005b, Castro et al. 2006b, Castro et al. 2006a, Henry 2008 can be used. The proposed methods can be classified as fault signal estimation based approaches (Mangoubi 1998, Marcos et al. 2005a, Castro et al. 2006b, Castro et al. 2006a) and residuals generation based approaches (Henry et al. 2001, Henry et al. 2002, Henry and Zolgahdri 2003, Henry and Zolghadri 2005a, Henry and Zolghadri 2005b, Henry 2008 A great advantage of these methods is that the framework employed (i.e. the H ∞ framework) facilitates the inclusion of several robustness objectives within the design procedure, e.g. against various disturbances, perturbations and model uncertainties. ...
... AERODYNAMIC DECOUPLED FREQUENTIAL FDIR METHODOLOGY 813 for fault diagnosis in satellite attitude control systems based on both reaction wheels [3-6] and thrusters [7][8][9][10][11][12]. Many FDI techniques are based on linear models [1,13], which may be affected by significant modelling errors. ...
... It is worth noting that the disturbance decoupling feature can be achieved by means of other methods available in the literature, for example, the H 1 =H filters [10,13]. However, this approach does not lead to exact disturbance decoupling, and it is suitable only for step faults. ...
This paper presents new results regarding the development of a supervision scheme for a nonlinear satellite model. The main issue concerns the handling of frequency faults affecting the reaction wheels of a spacecraft attitude control system, that is, how to detect and isolate faults, how to determine the different frequencies characterising these faults through spectral analysis and lastly, how to prevent propagation into failures with potential mission abortion as a consequence. Thus, this work investigates the design of a scheme for fault detection, isolation and control reconfiguration applied to the reaction wheels of a spacecraft attitude control, based on the satellite model. This scheme is classifiable as active fault tolerant control. As the study focuses on a general satellite nonlinear model, where aerodynamic and gravitational disturbances, as well as measurement errors, are present, the robustness of the suggested strategy is achieved by exploiting an explicit disturbance decoupling method via a nonlinear geometric approach. To achieve accurate fault diagnosis, aerodynamic disturbance decoupling represents the key point because the aerodynamic model is often uncertain. Moreover, an improvement of the nonlinear geometric approach is presented, to realise both aerodynamic and manoeuvre decoupled fault diagnosis. To the best authors’ knowledge, this is the first works presenting a methodology for frequency fault diagnosis, which is based on the nonlinear geometric approach for fault and disturbance decoupling. The obtained results demonstrate that the proposed methodology can achieve better performances with respect to traditional fault detection and isolation schemes. Copyright © 2013 John Wiley & Sons, Ltd.
... This supervision system is based on a Fault Detection and Isolation (FDI) module, which provides fundamental information about the true status of the system. Significant research in FDI has been done in last three decades (Blanke et al. (2006)), and in particular numerous model-based diagnostic methods have been proposed for fault diagnosis in satellite attitude control systems based on both reaction wheels (Wertz et al. (1999); Hao et al. (2004); Azarnoush (2010); Mirzaee et al. (2011)) and thrusters (Chen et al. (2007); Patton et al. (2010); Henry (2008); Falcoz et al. (2010); Wu et al. (2009)). Many FDI techniques are dedicated to linear systems (Blanke et al. (2006); Chen-Patton (1999)), even if linearisation can be exploited, which may lead to significant modelling errors. ...
... In fact, this term represents the main source of uncertainty in the satellite dynamic model, mainly due to the lack of knowledge of the accurate values of air density and satellite drag coefficient. It is worth noting that the aspect of disturbance decoupling has been dealt by means of other methods in the last years, and for example by means of H ∞ /H − filters (Henry (2008)). However, this approach does not allow to achieve an exact disturbance decoupling and it is suitable only for step faults, as the method allows to optimise the sensitivity to zero-frequency faults, and only for linearized dynamic models. ...
Fault diagnosis and fault-tolerant control have developed into a major area of research at the intersection of systems and control engineering, artificial intelligence, applied mathematics and statistics, and application fields like chemical, electrical, mechanical and aerospace engineering. IFAC has recognized the significance of this area by launching a triennial symposium series dedicated to this subject. SAFEPROCESS 2012 is continuing the successful series of symposia held in Baden-Baden (Germany, 1991), Helsinki (Finland, 1994), Hull (England, 1997), Budapest (Hungary, 2000), Washington D.C. (USA, 2003), Beijing (China, 2006) and Barcelona (Spain, 2009)
... 1. The FDI (Fault Detection and Isolation) community whose foundations are based on engineering disciplines such as control theory and statistical decision making (see for instance [5], [10], [13], [15], [17], [26], [31] for a survey). 2. The DX (Diagnosis) community whose foundations are derived from the fields of Computer Science and Artificial ...
... In the aerospace domain, there exist many successful applications of FDI methods, see for instance the parity space-based approaches [34], the particle filtering-based algorithms ( [9] and [16]), the fault detection observer-based approaches ( [19], [27]) and the H ∞ filtering methods ( [7], [13]). These research works have focused on the design of robust FDI solutions such that the fault indicators are sensitive to one or more faults whilst at the same time these indicators are insensitive to modeling errors and disturbance effects (see for instance [10], [11] and [26]). ...
The paper deals with the application of a formalized fault diagnosis strategy for multiple faults occurring in an autonomous spatial vehicle. The research work draws expertise from a collaboration between the European Space Agency, the “Laboratoire de lʼIntegration du Materiau au Systeme” and the Thales Alenia Space industry. The goal is to demonstrate the benefits of novel fault diagnosis methods to enhance spacecraft autonomy. The applicative support is the Mars Sample Return mission, a spacecraft mission undertaken jointly by the National Aeronautics and Space Administration and the European Space Agency. In this paper, a formalized framework, based on first order logic formulas, is detailed and an algorithm based on Boolean algebraic tools is presented in order to cope with the multiple fault diagnosis problem. The method uses the concepts of conflicts and diagnoses and aims at establishing the set of minimal diagnoses which is nothing else than the minimal list of the system components that have been identified to be faulty, solving de facto the fault isolation problem. The paper addresses this problem using jointly the concept of Analytical Redundancy Relations and their associated characteristics called their “supports”. With respect to the application, the faulty scenarios concern the failure of sensors in the orbiter during the rendezvous phase of the Mars Sample Return mission. Simulation results from a high-fidelity industrial simulator demonstrate the feasibility and the efficiency of the proposed technique.
... are appropriate matrices associated with the S/C and TMs, which can be derived by equations (1)-(5). ...
This paper proposes a multiple fault isolation framework for micro thrusters of drag-free systems, based on the minimum number of isolation filters. Based on the consideration of fault isolatability, the original system is reasonably divided into two completely isolated subsystems, and then two sets of fault isolation filters are designed based on the principles of duality design for state feedback decoupling, which achieves residual decoupling, and therefore, can detect and isolate multiple faults occurred on the micro thrusters. In particular, this method has low computational burden (a feature of practical importance in reducing the usage of onboard resources) and short isolation time, making it suitable for on-board fast and precise fault isolation. The simulation results demonstrate the efficacy of the proposed method when utilized for a drag-free system with 12 field emission electric propulsion (FEEP) thrusters.
... In quantitative model-based fault detection and diagnosis (FDD) methods, observer-based design is more commonly used for better performance despite uncertainty, disturbance, and without computational complexity. 8 The well-known observer design approaches are unknown input observer, 9 robust sliding mode, 10 robust optimal, 11 adaptive, 12 neural network, 13 and iterative learning observer. 14 Neural networks and iterative learning are superior in fault isolation and identification but weak in implementation simplicity and in-orbit use. ...
This paper mainly aims at the underactuated case diagnosis due to an actuator failure for a remote sensing satellite. We consider healthy initial conditions for the actuators to investigate the underactuation fault in an attitude tracking control problem. Reaction wheels are the onboard actuators, and a new fault injection mechanism on the speed characteristic is introduced using the multi-fault function. The fault detection and diagnosis strategy is based on the sliding mode and adaptive sliding mode observers in a finite-time decision window. The robust observer and adaptive threshold are designed to detect the fault, and the adaptive robust observer estimates the fault model. The residual signal is evaluated by forming the window with fixed thresholds, and in the decision steps, priority is given to the underactuation fault diagnosis. System performance is presented for two actuator fault scenarios in a snapshot imaging mode to understand this case clearly. Numerical simulations close to in-orbit conditions confirm the satisfactory performance of the proposed strategy that underactuated case is diagnosed by injecting stuck and idle faults around 2.19 and 3.52 s. The times obtained in this study are guaranteed with a 3-sigma confidence level statistical characteristic. Furthermore, the results of the present work are validated using an air-bearing experimental test bed to illustrate a more realistic behavior of an underactuated satellite.
... These methods exploit the physical knowledge of satellite dynamics to elaborate a mathematical model that represents the evolution of the system's state (dynamics and kinematics). Model-based approaches use several off-theshelf techniques such as Kalman filters (Mehra, Rago & Seereeram, 1998;Gao, Zhang, Zhang, He & Lu, 2019;Beyon, Mok, Woo & Bang, 2019;Li, Liu, Zhang, Wang & Shen, 2019;Lopez-Encarnacion, Fonod & Bergner, 2019), sliding mode observer (Alwi, Edwards & Marcos, 2010;Gao, Zhang & He, 2018;Gao, Zhou, Qian & Lin, 2018;Nagesh & Edwards 2011), and H∞, H2 schemes (Nemati, Safavi Hamami & Zemouche, 2019;Henry, 2008). These methods suffer from two main drawbacks: i) the non-availability/nonreliability of the physical model, and ii) the built model fails to efficiently represent the fault modes, nonlinearities, and non-stationary character of the space environment (Henna et al. 2020). ...
In spacecraft attitude control, maintaining an accurate estimate of attitude readings is crucial. Due to aging factors of sensors like gyroscopes, emerged drift or bias from the correct rate values lead to decreased pointing accuracy. This paper proposes unsupervised data-driven approach in order to diagnose in early stage abnormal drifts in spacecraft attitude sensors. Three types of faults are injected in the satellite attitude control simulator. The obtained results are compared with other similar data-driven methods. The comparison shows the superiority of our method in terms of missed alarm rate and incorrect detection rate. In addition, our approach does not require prior knowledge and labels about the attitude sensors faults.
... Grenaille et al. (2008), Henry (2012) or Henry et al. (2015a) designed a robust fault detection filter with enhanced fault transmission H − gain and large H ∞ nuisance attenuation for LPV systems in a finite frequency domain by using the weighting matrix method. Besides, Henry (2008) and Henry et al. (2014Henry et al. ( , 2015b demonstrated that it is possible to cover a very large range of uncertainties while maintaining high fault sensitivity. Recently, the generalized Kalman-Yakubovich-Popov (KYP) lemma was proposed by Iwasaki et al. (2005), which gives an exact linear matrix inequality characterization of the H − index in a finite frequency domain. ...
This paper proposes an H_/H ∞ fault detection observer method by using generalized output for a class of polytopic linear parameter-varying (LPV) systems. As the main contribution, with the aid of the relative degree of output, a new output vector is generated by gathering the original output and its time derivative, and it is feasible to consider H_ actuator fault sensitivity in the entire frequency for the new system. In order to improve actuator and sensor fault sensitivity as well as guarantee robustness against disturbances, simultaneously, an H_/H ∞ fault detection observer is designed for the new LPV polytopic system. Besides, the design conditions of the proposed observer are transformed into an optimization problem by solving a set of linear matrix inequalities (LMIs). Numerical simulations are provided to illustrate the effectiveness of the proposed method.
... To facilitate the CA algorithm implementation, redundancy among actuators is required, that is, rank DE 3 is assumed during the maneuver. To compensate for the actuator faults, it is assumed that the actuator- fault information has been successfully obtained from a fault detection and diagnosis (FDD) scheme, which generally includes fault detection, isolation, and identification [24][25][26][27]. However, it should be noted that no matter what kind of FDD scheme is employed, there often exists nontrivial estimation error concerning the faults. ...
... Numerous model-based FDI techniques has been studied in the past decades in the academic community, see Blanke et al. [2006] and Ding [2008] for good surveys. The still growing interest of potential applications in aerospace systems is demonstrated by recent publications, see, for instance, Chen and Saif [2007], Henry [2008], Patton et al. [2010], Falcoz et al. [2010], Posch et al. [2013]. In terms of fault accommodation techniques, the interested reader shall refer to literature review of Zhang and Jiang [2008]. ...
The presented work is a result of a research collaboration between European Space Agency, Thales Alenia Space and IMS Laboratory with the aim of promoting fault-tolerant control strategies to advance spacecraft autonomy. A multiple observer based scheme is proposed jointly with an online constrained allocation algorithm to detect, isolate and accommodate a single thruster fault affecting the propulsion system of an autonomous spacecraft. Robust residual generator with enhanced robustness to time delays induced by the propulsion drive electronics and uncertainties on thruster rise times is used for fault detection purposes. A decision test on the residual of the fault detector triggers a bank of nonlinear unknown input observers which is in charge of confining the fault to a subset of possible faults. The faulty thruster isolation is achieved by matching the residual and the thruster force directions using the direction cosine approach. Finally, the fault is accommodated by redistributing the desired forces and torques among the remaining (healthy) thrusters and closing the isolated thruster. Simulation results from the "high-fidelity" industrial simulator, provided by Thales Alenia Space, demonstrate the fault-tolerance capabilities of the proposed scheme.
... One can find a lot of "case study" in the open literature which is fragmented across many technical papers. See, for example, and among others, [4,62,[94][95][96][97][98][99][100][101][102][103][104][105][106][107][108], and many technical reports available at http://www.sti.nasa.gov/. ...
This chapter presents briefly the motivations and the book outline. This book presents a number of advanced fault detection and diagnosis and reconfiguration technologies for aerospace vehicles. An attempt is made to develop useful solutions that can be relevant and viable candidates for future space and aeronautical systems. The presented techniques have been tested and validated on highly representative benchmarks, real flight data, or real-world aerospace systems. The examples presented in this book are taken mainly from four recent projects related to fault detection and diagnosis and fault-tolerant control and guidance of aircraft and space systems:
... Especially, the estimator is developed in an affine LPV manner. In recent years, LPV based FDD has been widely developed in the literature (Bokor & Balas, 2004;Henry, 2008). The most obvious benefit is that the analysis of the performance and stability, together with the synthesis method are established over a wide range of changing parameters. ...
This paper investigates a mixed linear parameter varying (LPV) fault estimator using an LPV reference estimator. LMIs are used to calculate the affine parameter-dependent gains of the LPV fault estimator. The design strategy is applied to a high fidelity nonlinear aircraft model provided by AIRBUS for use within the EU-FP7 project ADDSAFE, to estimate the yaw rate sensor faults in the Air Data Inertial Reference System in the presence of the parametric uncertainties. The fault detection performances in various flight conditions are evaluated using the parametric simulation.
... In (Henry et al., 2011), the proposed method is based on a H(0) filter with robust poles assignment for fault detection and a cross-correlation test for fault isolation in thrusters. The H ∞ /H − approach is considered for micro-Newton colloidal thruster faults during the experiment phase for the LISA Pathfinder experiment in (Falcoz et al., 2010) and in (Henry, 2008), H ∞ /H − filter-based strategies are too proposed to diagnose field emission electric propulsion thruster faults for the Microscope satellite. ...
The research work presented in this paper addresses the design and validation of a robust model-based fault diagnosis system to detect and isolate any thruster fault occurring in the thruster-based propulsion system of the chaser spacecraft during rendezvous on a circular orbit around the Mars planet. The REFERENCE mission is the ESA Mars Sample Return (MSR) mission. Key features of the proposed method are the use of a Hi/H∞ filter for robust fault detection and a bank of unknown input observers jointly used with a dot product of vectors strategy for fault isolation. Robust performance over a large range of uncertainties (a total of 36 uncertainties is considered) is formally demonstrated through the μ3 formalism.
... In [25], a twostage Kalman filtering algorithm was developed to estimate reaction wheel faults; a fault-tolerant controller was then synthesized to accommodate the faults. Two model-based schemes were developed in [26] by using H ∞ /H 2 filters to address the fault diagnosis problem of micro thrusters. In [27], a set of fault detection filters were presented for deep space satellites to detect and identify faults in sensors or actuators. ...
This work presents a novel fault reconstruction approach for a large-scale system, that is, a distributed coordinated spacecraft attitude control system. The attitude of all the spacecrafts in this distributed system is controlled by using thrusters. All possible faults of thruster including thrust magnitude error and alignment error are investigated. As a stepping stone, the mathematical model of thruster is firstly established based on the thruster configuration. On the basis of this, a sliding mode observer is then proposed to reconstruct faults in each agent of the coordinated control system. A Lyapunov-based analysis shows that the observer asymptotically converges to the actual faults. The key feature of this fault reconstruction approach is that it can achieve a faster reconstruction of the fault in comparison with the conventional fault reconstruction schemes. It can globally reconstruct thruster faults with zero reconstruction error, and this is accomplished within finite time. The effectiveness of the proposed approach is analytically authenticated via simulation study.
... The method proposed in [16,17] is based on the so-called unknown input observer technique and is applied to the Mars Express mission. The work [11] addressed the problem of thrusters' faults diagnosis in the Microscope satellite and [7] considered the problem of faults affecting the micro-Newton colloidal thrust system of the LISA Pathfinder experiment. Both proposed FDI schemes are based on H ∞ /H − filters to generate residuals robust against spatial disturbances (i.e. ...
This paper addresses robust fault diagnosis of the chaser's thrusters used for the rendezvous phase of the Mars Sample Return (MSR) mission. The MSR mission is a future exploration mission undertaken jointly by the National Aeronautics and Space Administration (NASA) and the European Space Agency (ESA). The goal is to return tangible samples from Mars atmosphere and ground to Earth for analysis. A residual-based scheme is proposed that is robust against the presence of unknown time-varying delays induced by the thruster modulator unit. The proposed fault diagnosis design is based on Eigenstructure Assignment (EA) and first-order Pade approximation. The resulted method is able to detect quickly any kind of thruster faults and to isolate them using a cross-correlation based test. Simulation results from the MSR "high-fidelity" industrial simulator, provided by Thales Alenia Space, demonstrate that the proposed method is able to detect and isolate some thruster faults in a reasonable time, despite of delays in the thruster modulator unit, inaccurate navigation unit, and spatial disturbances (i.e. J2 gravitational perturbation, atmospheric drag, and solar radiation pressure).
... The strategy consists of a bank of two ∞ H / − H fault detection filters (see the "Material Background" section) that are designed so that a given filter is made robust (in the ∞ H -norm sense) against measurement noises ) (n winds turbulences ) (w , guidance reference signals ) , , ( To avoid duplicating materials from published papers, an earnest effort will be made through this section to focus on the main characteristics of the method. The interested reader can refer to [16], [17], [21], [23] for further details. ...
... L'effet de la boucle de rétroaction sur le diagnostic a été analysée dans [309,310]. Ceci est en lien avec la conception couplée des lois de commande et des filtres de diagnostic, examinée notamment dans [159,307], afin de réaliser un compromis entre les performances de diagnostic et de commande. Ces objectifs étant opposés (dilemme commande-diagnostic), le signal de commande contient nécessairement de l'information concernant les défauts affectant un système bouclé [326,327]. ...
This manuscript reports contributions to the development of methods for fault detection and diagnosis applied to aeronautical systems. A representative system is considered, composed of the six-degree-of-freedom nonlinear model of a surface-to-air missile, its sensors, actuators and the associated GNC scheme. The first part is devoted to the development of two fault diagnosis approaches that take advantage of closed-loop control information, along with the characteristics of aeronautical models. The first method uses control objectives resulting from guidance laws to generate residuals indicative of the presence of faults. This enables the detection of both actuator and sensor faults, and the isolation of sensor faults. The second method exploits the measurement of derivatives of state variables (as provided by an IMU) to estimate the control input as achieved by actuators, without the need to integrate the nonlinear model. Detection, isolation and identification of actuator faults can then be performed by comparing this estimate with the desired control input.The second part presents a new automatic-tuning methodology for the internal parameters (the hyperparameters) of fault diagnosis methods. This allows a fair comparison between methods by evaluating their best performance. Tuning is formalised as the global optimization of a black-box function that is obtained through the (costly) numerical simulation of a set of test cases. The methodology proposed here is based on Kriging and Bayesian optimization, which make it possible to tackle this problem at a very reduced computational cost. A new algorithm is developed to address the optimization of hyperparameters in a way that is robust to the variability of the test cases of interest.
... [2006], Venkateswaran [2002] ) and the optimal filtering methods (Castro et.al. [2006], Henry [2008]), the overall gain of the obtained fault diagnosis schemes is not so well clear and defined (see for instance the interesting discussions in Osder [1999] and Bonfe et.al. [2006]). ...
This paper presents a formalized isolation technique for multiple and simultaneous failure diagnosis in the orbiter measurement unit during the rendezvous phase of the Mars Sample Return (MSR) mission. The MSR mission is a spacecraft mission whose aim is to bring tangible samples from Mars to Earth for analysis. The proposed methodology aims at combining judiciously available hardware redundancy-based fault indicating signals with analytic-based fault indicating signals. Within this topic, the problem of finding the minimal number of residuals for a given isolation task, is addressed. To cope with the diagnosis problem, logical tools derived from the set theory are used. Simulation results are presented in order to show the effectiveness of the proposed method.
The thruster fault diagnosis problem of the satellite attitude control system is investigated in this article. This challenging problem is first changed into the binary image classification issue. A deep learning based data-driven fault diagnosis approach is then presented. It benefits from this approach that the stuck-open and the stuck-close faults of thruster are detected, diagnosed, and located online with high accuracy. The proposed method is purely data-driven and directly implemented by using raw measurement data only. It is independent of the dynamics of the thruster and the mathematical model of the satellite attitude control system. The effectiveness of the proposed approach is finally demonstrated on a satellite example.
Increasing attention has grown with regards to Sliding Mode Controllers (SMC). In order to reduce the so-called chattering effect, the Super-Twisting Algorithm (STA) has been proposed, recently. In this work, a controller based on the STA in a backstepping setup, is proposed for spacecraft rendezvous in a circular orbit. A key feature is that the chaser is not treated as a point mass, given that the effects of the flexible modes and propellant sloshing phenomena are considered. The results obtained are taken further, given that the guarantee of robustness against perturbations is not enough when it comes to critical systems, through the second ordersliding mode controllers technique. It is shown that the technique enables to solve to problem of fault tolerant control. The solution is based on the Generalized Super-Twisting Algorithm (GSTA) with an anti-windup strategy and a nonlinear observer and the dual quaternion formalism. The main reason of employing a GSTA is because it offers more robustness against state dependentperturbations (sloshing phenomena and flexible modes) than the STA. In addition, with the help of the anti-windup strategy, the control law does not saturate the thrusters, avoiding instablity when faults occur. The proposed solution is evaluated through a simulation campaign in a high-fidelity non-linear simulator, and mission oriented criteria demonstrate its potential.
This chapter is dedicated to techniques for ensuring fault tolerance in redundant aircraft sensors involved in computation of flight control laws. The objective is to switch off the faulty sensor and to compute a reliable (a.k.a. as “consolidated”) parameter using data from valid sensors, in order to eliminate any anomaly before propagation in the control loop. The benefit of the presented method is to improve the consolidation process with a fault detection and isolation approach when only few sources (less than three) are valid. Different techniques are compared to accurately detect any behavioral change of the sensor outputs. The approach is tested on a recorded flight dataset. This chapter is dedicated to fault detection and isolation of redundant aircraft sensors involved in the computation of flight control laws. The objective is to switch off the erroneous sensor and to compute a so-called consolidated parameter using data from valid sensors, in order to eliminate any anomaly before propagation in the control loop. We will focus on oscillatory failures and present a method for integrity control based on the processing of any flight parameter measurement in the flight control computer (FCC) like, e.g., anemometric and inertial data. One of the main tasks dedicated to the FCC is the flight control laws (FCL) computation which generates a command (position order) to servo-control each moving surface (see Fig. 5.1). The comparison between the pilot commands (or the piloting objectives) and the aircraft state is used for FCL computation. The aircraft state is measured by a set of sensors delivering, e.g., anemometric and inertial measurements that characterize the aircraft attitude, speed, and altitude. The data is acquired using an acquisition system composed by several dedicated redundant units (usually three). The FCC receives three redundant values of each flight parameter data from the sensors and must compute unique and valid flight parameters required for the FCL computation. This specific data fusion processing, called “consolidation,” classically consists of two simultaneous steps (Fig. 5.2): selection or computation of one unique parameter from the three available sources, and, in parallel, monitoring of each of the three independent sources to discard any faulty one. As a consequence, the consolidation allows reliable flight parameters computation with the required accuracy by discarding any involved failed source.
This chapter is dedicated to space applications. Three application cases will be presented: an Earth observation satellite, a deep space mission and an atmospheric re-entry vehicle. The design method is based on H
∞
/H
−
tools and is associated with a suitable post-analysis process, the so-called generalized μ-analysis. It is shown that the resulting design/analysis procedure provides an iterative refinement cycle which allows the designer to get “as close as possible” to the required robustness/performance specifications and trade-offs. This chapter is dedicated to actuator fault detection and diagnosis in space applications. Fault tolerance in terms of control and guidance will also be discussed. The design method is based on H
∞
/H
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and robust pole assignment tools. Three space applications will be studied:
In this paper, the problem of Nonlinear Unknown Input Observer (NUIO) based Fault Detection and Isolation (FDI) scheme design for a class of nonlinear Lipschitz systems is studied. The proposed FDI method is applied to detect, isolate and accommodate thruster faults of an autonomous spacecraft involved in the rendezvous phase of the Mars Sample Return (MSR) mission. Considered fault scenarios represent fully closed thruster and thruster efficiency loss. The FDI scheme consists of a bank of NUIOs with adjustable error dynamics, a robust fault detector that is based on judiciously chosen frame and an isolation logic. The bank of observers is in charge of confining the fault to a subset of possible faults and the isolation logic makes the final decision about the faulty thruster index. Finally, a thruster fault is accommodated by re-Allocating the desired forces and torques among the remaining healthy thrusters and closing the associated thruster valve. Monte Carlo results from 'high-fidelity' MSR industrial simulator demonstrate that the proposed fault tolerant strategy is able to accommodate thruster faults that may have effect on the final rendezvous criteria.
This paper deals with the design and validation of an active fault-tolerant control system to detect, isolate and accommodate a single thruster fault affecting the thruster-based propulsion system of an autonomous spacecraft. The proposed method consists of a fault detector for robust and quick fault detection, a two-stage hierarchical isolation strategy for fault isolation, and an online control allocation unit scheduled by the isolation scheme for fault tolerance. A new factorization approach for the uncertain inertia matrix inverse is proposed. Thanks to this factorization, a novel robust Nonlinear Unknown Input Observers (NUIO) approach is proposed based on LMIs which ensure maximization of the admissible Lipschitz constant while at the same time satisfying an L2 gain bound and some constraints on the observer dynamics. At the first stage of the isolation scheme, a bank of NUIOs is used to identify a subset of possible faulty thrusters. Then, at the second stage, an EKF is introduced to estimate the torque bias directions. Using these directions, jointly with the detector׳s residual and the information obtained from the first stage, a set of explicit rules is derived to unambiguously isolate the faulty thruster. A Monte Carlo campaign, based on a simulator developed by Thales Alenia Space industries, is conducted in the context of a terminal rendezvous phase of the Mars Sample Return mission. Mission oriented criteria demonstrate that the proposed strategy is able to cope with a large class of realistic thruster faults and to achieve mission success.
For aerospace systems, advanced model-based Fault Detection,
Identification, and Recovery (FDIR) challenges range from predesign and
design stages for upcoming and new programs up to the improvement of the
performance of in-service flying systems. However, today, their
application to real aerospace world has remained extremely limited. The
paper underlines the reasons for a widening gap between the advanced
scientific FDIR methods being developed by the academic community and
technological solutions demanded by the aerospace industry.
In this paper, an integrated fault diagnosis and fault tolerant control scheme is investigated for nonlinear satellite attitude control systems. The fault diagnosis is performed by a novel interactive multiple model approach aiming at reducing the size of the model set. Unknown fault parameters are jointly estimated with system states by state augmentation and a bank of unscented Kalman Filters. Based on the faulty information obtained from the fault diagnosis system, a proportional-derivative controller is used to recover the faulty system. Simulation results demonstrate the effectiveness of the proposed fault diagnosis and fault tolerant control scheme.
This paper discusses some trends and recent advances in model-based Fault Detection, Isolation and Recovery (FDIR) for aerospace systems. The FDIR challenges range from pre-design and design stages for upcoming and new programs, to improvement of the performance of in-service flying systems. For space missions, optimization of flight conditions and safe operation is intrinsically related to GNC (Guidance, Navigation & Control) system of the spacecraft and includes sensors and actuators monitoring. Many future space missions will require autonomous proximity operations including fault diagnosis and the subsequent control and guidance recovery actions. For upcoming and future aircraft, one of the main issues is how early and robust diagnosis of some small and subtle faults could contribute to the overall optimization of aircraft design. This issue would be an important factor for anticipating the more and more stringent requirements which would come in force for future environmentally-friendlier programs. The paper underlines the reasons for a widening gap between the advanced scientific FDIR methods being developed by the academic community and technological solutions demanded by the aerospace industry.
This survey of model-based fault diagnosis focuses on those methods that are appli-cable to aerospace systems. To highlight the characteristics of aerospace models, generic non-linear dynamical modelling from flight mechanics is recalled and a unifying representation of sensor and actuator faults is presented. An extensive bibliographical review supports a descrip-tion of the key points of fault detection methods that rely on analytical redundancy. The approaches that best suit the constraints of the field are emphasized and recommendations for future developments in in-flight fault diagnosis are provided.
This article describes a new method to perform fault detection and isolation for a closed-loop-controlled autonomous aircraft. This vehicle is equipped with standard sensors and actuators, and its dynamics is non-linear. It is assumed that a guidance law and a control loop have been designed to achieve a given mission. The diagnosis method uses the resulting control objectives to generate residuals indicative of the presence of faults. Two classical guidance laws are considered, leading to different control constraints and diagnosis signals. A structural sensi-tivity analysis shows that all sensor and actuator faults can be detected and all sensor faults isolated, for both laws. The fault diagnosis procedure does not require the costly integration of the model of the system, and the closed-loop scheme makes it robust to model uncertainty. Realistic simulation results with strong model and measurement uncertainty demonstrate the potential of the approach. A theoretical analogy with observer-based fault diagnosis is also derived.
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