Actuator and sensor fault isolation in a class of nonlinear dynamical systems

Abstract

Fault isolation in dynamical systems is a challenging task due to modeling uncertainty and measurement noise, interactive effects of multiple faults and fault propagation. This paper proposes a unified approach for isolation of multiple actuator or sensor faults in a class of nonlinear uncertain dynamical systems. Actuator and sensor fault isolation are accomplished in two independent modules, that monitor the system and are able to isolate the potential faulty actuator(s) or sensor(s). For the sensor fault isolation (SFI) case, a module is designed which monitors the system and utilizes an adaptive isolation threshold on the output residuals computed via a nonlinear estimation scheme that allows the isolation of single/multiple faulty sensor(s). For the actuator fault isolation (AFI) case, a second module is designed, which utilizes a learning-based scheme for adaptive approximation of faulty actuator(s) and, based on a reasoning decision logic and suitably designed AFI thresholds, the faulty actuator(s) set can be determined. The effectiveness of the proposed fault isolation approach developed in this paper is demonstrated through a simulation example.