Robust state estimation and fault diagnosis for uncertain hybrid systems

Robust state estimation and fault diagnosis are challenging problems in the research into hybrid systems. In this paper a novel robust hybrid observer is proposed for a class of hybrid systems with unknown inputs and faults. Model uncertainties, disturbances and faults are represented as structured unknown inputs. The robust hybrid observer consists of a mode observer for mode identification and a continuous observer for continuous state estimation and mode transition detection. It is shown that the mode can be identified correctly and the continuous state estimation error is exponentially uniformly bounded. Robustness to model uncertainties and disturbances can be guaranteed for the hybrid observer by disturbance decoupling. Furthermore, the detectability and mode identifiability conditions are rigorously analyzed. On the basis of the robust hybrid observer, a robust fault detection and isolation scheme is presented also in the paper. Simulations of a hybrid four-tank system show the proposed approach is effective.     

Robust state estimation and fault diagnosis for uncertain hybrid nonlinear systems

Robust state estimation and fault diagnosis are challenging problems in the research of hybrid systems. In this paper, a novel robust hybrid observer is proposed for a class of uncertain hybrid nonlinear systems with unknown mode transition functions, model uncertainties and unknown disturbances. The observer consists of a mode observer for discrete mode estimation and a continuous observer for continuous state estimation. It is shown that the mode can be identified correctly and the continuous state estimation error is exponentially uniformly bounded. Robustness to unknown transition functions, model uncertainties and disturbances can be guaranteed by disturbance decoupling and selecting proper thresholds. The transition detectability and mode identifiability conditions are rigorously analyzed. Based on the robust hybrid observer, a robust fault diagnosis scheme is presented for faults modeled as discrete modes with unknown transition functions, and the analytical properties are investigated. Simulations of a hybrid three-tank system demonstrate that the proposed approach is effective.     

Fault identification in nonlinear hybrid systems

The problem of fault identification in hybrid systems is investigated. It is assumed that the hybrid systems under consideration consist of a finite automaton, the set of nonlinear differential equations, and so-called mode activator that coordinates the action of these two parts. To solve the fault identification problem, sliding mode observers are used. The suggested approach for constructing sliding mode observers is based on the reduced order model of the original system. This allows to reduce complexity of sliding mode observers and relax the limitations imposed on the original system. Examples illustrate details of the solution.     

Bond graph model-based system mode identification and mode-dependent fault thresholds for hybrid systems

Hybrid system models exploit the modelling abstraction that fast state transitions take place instantaneously so that they encompass discrete events and the continuous time behaviour for the while of a system mode. If a system is in a certain mode, e.g. two rigid bodies stick together, then residuals of analytical redundancy relations (ARRs) within certain small bounds indicate that the system is healthy. An unobserved mode change, however, invalidates the current model for the dynamic behaviour. As a result, ARR residuals may exceed current thresholds indicating faults in system components that have not happened. The paper shows that ARR residuals derived from a bond graph cannot only serve as fault indicators but may also be used for bond graph model-based system mode identification. ARR residuals are numerically computed in an off-line simulation by coupling a bond graph of the faulty system to a non-faulty system bond graph through residual sinks. In real-time simulation, the faulty system model is to be replaced by measurements from the real system. As parameter values are uncertain, it is important to determine adaptive ARR thresholds that, given uncertain parameters, allow to decide whether the dynamic behaviour in a current system mode is the one of the healthy system so that false alarms or overlooking of true faults can be avoided. The paper shows how incremental bond graphs can be used to determine adaptive mode-dependent ARR thresholds for switched linear time-invariant systems with uncertain parameters in order to support robust fault detection. Bond graph-based hybrid system mode identification as well as the determination of adaptive fault thresholds is illustrated by application to a power electronic system easy to survey. Some simulation results have been analytically validated.     

Uniform analysis of a stabilized hybrid finite element method for Reissner-Mindlin plates

This paper presents a low order stabilized hybrid quadrilateral finite element method for ReissnerMindlin plates based on Hellinger-Reissner variational principle,which includes variables of displacements,shear stresses and bending moments.The approach uses continuous piecewise isoparametric bilinear interpolations for the approximations of the transverse displacement and rotation.The stabilization achieved by adding a stabilization term of least-squares to the original hybrid scheme,allows independent approximations of the stresses and moments.The stress approximation adopts a piecewise independent 4-parameter mode satisfying an accuracy-enhanced condition.The approximation of moments employs a piecewise-independent 5-parameter mode.This method can be viewed as a stabilized version of the hybrid finite element scheme proposed in [Carstensen C,Xie X,Yu G,et al.A priori and a posteriori analysis for a locking-free low order quadrilateral hybrid finite element for Reissner-Mindlin plates.Comput Methods Appl Mech Engrg,2011,200:1161-1175],where the approximations of stresses and moments are required to satisfy an equilibrium criterion.A priori error analysis shows that the method is uniform with respect to the plate thickness t.Numerical experiments confirm the theoretical results.     

Optimal control of impulsive hybrid systems

In this paper, we deal with optimization techniques for a class of hybrid systems that comprise continuous controllable dynamics and impulses (jumps) in the state. Using the mathematical techniques of distributional derivatives and impulse differential equations, we rewrite the original hybrid control system as a system with autonomous location transitions. For the obtained auxiliary dynamical system and the corresponding optimal control problem (OCP), we apply the Lagrange approach and derive the reduced gradient formulas. Moreover, we formulate necessary optimality conditions for the above hybrid OCPs, and discuss the newly elaborated Pontryagin-type Maximum Principle for impulsive OCPs. As in the case of the conventional OCPs, the proposed first order optimization techniques provide a basis for constructive computational algorithms.     

A NARMAX model-based state-space self-tuning control for nonlinear stochastic hybrid systems

A novel state-space self-tuning control methodology for a nonlinear stochastic hybrid system with stochastic noise/disturbances is proposed in this paper. via the optimal linearization approach, an adjustable NARMAX-based noise model with estimated states can be constructed for the state-space self-tuning control in nonlinear continuous-time stochastic systems. Then, a corresponding adaptive digital control scheme is proposed for continuous-time multivariable nonlinear stochastic systems, which have unknown system parameters, measurement noise/external disturbances, and inaccessible system states. The proposed method enables the development of a digitally implementable advanced control algorithm for nonlinear stochastic hybrid systems.     

Hybrid modeling based double-granularity fault detection and diagnosis for quadrotor helicopter

Fault detection and diagnosis (FDD) is an effective technology to assure the safety and reliability of quadrotor helicopters. However, there are still some unsolved problems in the existing FDD methods, such as the trade-offs between the accuracy and complexity of system models used for FDD, and the rarely explored structure faults in quadrotor helicopters. In this paper, a double-granularity FDD method is proposed based on the hybrid modeling of a quadrotor helicopter which has been developed in authors’ previous work. The hybrid model consists of a prior model and a set of non-parametric models. The coarse-granularity-level FDD is built on the prior model which can isolate the faulty channel(s); while the fine-granularity-level FDD is built on the nonparametric models which can isolate the faulty components in the faulty channel. In both coarse and fine granularity FDD procedures, principal component analysis (PCA) is adopted for online fault detection. Using such a double-granularity scheme, the proposed FDD method has inherent ability in detecting and diagnosing structure faults or failures in quadrotor helicopters. Experimental results conducted on a 3-DOF hover platform can demonstrate the feasibility and effectiveness of the proposed hybrid modeling technique and the hybrid model based FDD method.     

Detection,isolation and identification of multiple actuator and sensor faults in nonlinear dynamic systems: Application to a waste water treatment process

The goal in many fault detection and isolation schemes is to increase the isolation and identification speed. This paper, presents a new approach of a nonlinear model based adaptive observer method, for detection, isolation and identification of actuator and sensor faults. Firstly, we will design a new method for the actuator fault problem where, after the fault detection and before the fault isolation, we will try to estimate the output of the instrument. The method is based on the formation of nonlinear observer banks where each bank isolates each actuator fault. Secondly, for the sensor problem we will reformulate the system by introducing a new state variable, so that an augmented system can be constructed to treat sensor faults as actuator faults. A method based on the design of an adaptive observers’ bank will be used for the fault treatment. These approaches use the system model and the outputs of the adaptive observers to generate residues. Residuals are defined in such way to isolate the faulty instrument after detecting the fault occurrence. The advantages of these methods are that we can treat not only single actuator and sensor faults but also multiple faults, more over the isolation time has been decreased. In this study, we consider that only abrupt faults in the system can occur. The validity of the methods will be tested firstly in simulation by using a nonlinear model of waste water treatment process with and without measurement noise and secondly with the same nonlinear model but by using this time real data.     

Universal prediction-based adaptive fault estimator applied to secure communication

In this paper, a communication scheme that could use a nonlinear dynamical system to create encrypted keys with an additional dimension is proposed, and the scheme could keep encrypted keys not to diverge. Since the divergence of encrypted keys (nonlinear signals) easily happens in non-linear systems coupled with other systems, the adaptive control approach, proposed in this paper, uses the universal state-space adaptive observer-based fault diagnosis/estimator and the high-performance tracker to eliminate the divergence of encrypted keys. At the same time, the receiver of communication retrieves informal messages by the universal state-space adaptive observer-based fault diagnosis/estimator and the high-performance tracker. Thus, this paper takes advantage of the merit of digital redesign methodology for a practical implementation of secure-communication, and the estimator solves the problem of secure communication. Thus developed a new approach could add more dimensions into nonlinear secure-communication systems without having the problem of divergence of encrypted keys.     

Sliding mode control based on multi-node transmission hybrid scheduling for Markovian jump systems with constrained bandwidth

The sliding mode control (SMC) problem is investigated for Markovian jump systems (MJSs) under constrained communication bandwidth. A multi-node hybrid transmission strategy composed of an event-triggered protocol and the weight try-once-discard (WTOD) protocol is introduced into the sensor-to-controller (S/C) channel. Its key feature is that by using two dynamic thresholds, the number of the transmitted components may be dynamically regulated, not just the one with the largest difference as in the conventional WTOD protocol. That may greatly increase the flexibility of transmission under limited bandwidth, meanwhile, it is also beneficial to balance system performance and network burden. Then, a compensating strategy is proposed via the previous transmitted signals, and a scheduling signal-dependent sliding mode controller is designed. By using mode-dependent Lyapunov function, both the stochastic stability and the reachability are analyzed under different transmission cases, respectively. Moreover, an optimization problem on convergent domain is formulated and the binary-encoded genetic algorithm (GA) is utilized to search a desirable sliding gain. Finally, the proposed multi-node hybrid scheduling-based SMC scheme is illustrated via simulation results.     

An improved method for inference of piecewise linear systems by detecting jumps using derivative estimation

Inference of dynamical systems using piecewise linear models is a promising active research area. Most of the investigations in this field have been stimulated by the research in functional genomics. In this article we study the inference problem in piecewise linear systems. We propose first identifying the state transitions by detecting the jumps of the derivative estimates, then finding the guard conditions of the state transitions (thresholds) from the values of the state variables at the state transition time and finally using the conventional gene regulatory network inference methods to infer the regulatory relations. This approach does not require a priori information or assumption on the guard conditions and provides robustness to environmental or measurement noise underlined by the used jump detection filter. We discuss the particular problems where the suggested method can improve the efficiency and demonstrate the results on a comparative basis.     

An optimal control approach to the design of periodic orbits for mechanical systems with impacts

In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control. Specifically, we design an optimal control based strategy that combines trajectory optimization, dynamics embedding, optimal control relaxation and root finding techniques. The proposed strategy allows us to design, in a numerically stable manner, trajectories that optimize a desired cost and satisfy boundary state constraints consistent with a periodic orbit. To show the effectiveness of the proposed strategy, we perform numerical computations on a compass biped model with torso.     

An adaptive neuro‐fuzzy inference system for islanding detection in wind turbine as distributed generation

This article proposes a new integrated diagnostic system for islanding detection by means of a neuro‐fuzzy approach. Islanding detection and prevention is a mandatory requirement for grid‐connected distributed generation (DG) systems. Several methods based on passive and active detection scheme have been proposed. Although passive schemes have a large non‐detection zone (NDZ), concern has been raised on active method due to its degrading power‐quality effect. Reliably detecting this condition is regarded by many as an ongoing challenge as existing methods are not entirely satisfactory. The main emphasis of the proposed scheme is to reduce the NDZ to as close as possible and to keep the output power quality unchanged. In addition, this technique can also overcome the problem of setting the detection thresholds inherent in the existing techniques. In this study, we propose to use a hybrid intelligent system called ANFIS (the adaptive neuro‐fuzzy inference system) for islanding detection. This approach utilizes rate of change of frequency (ROCOF) at the target DG location and used as the input sets for a neuro‐fuzzy inference system for intelligent islanding detection. This approach utilizes the ANFIS as a machine learning technology and fuzzy clustering for processing and analyzing the large data sets provided from network simulations using MATLAB software. To validate the feasibility of this approach, the method has been validated through several conditions and different loading, switching operation, and network conditions. The proposed algorithm is compared with the widely used ROCOF relays and found working effectively in the situations where ROCOF fails. Simulation studies showed that the ANFIS‐based algorithm detects islanding situation accurate than other islanding detection algorithms. © 2014 Wiley Periodicals, Inc. Complexity 21: 10–20, 2015     

Approximability of nonlinear affine control systems

This paper focuses on a strong approximability property for nonlinear affine control systems. We consider control processes governed by ordinary differential equations (ODEs) and study an initial system and the associated generalized system. Our theoretical approach makes it possible to prove a strong approximability result for the above dynamical systems. The latter can be effectively applied to some classes of variable structure and hybrid control systems. In particular, this paper deals with applications of the strong approximability property obtained to the conventional sliding mode processes and to hybrid control systems with autonomous location transitions. We also take into consideration some optimal control problems for the above class of hybrid systems.     

Multiple model methods in path following II

Base-state discontinuities at modal transitions complicate hybrid estimation. Accurate extrapolation requires the identification of the current mode and its immediate precursor. This paper proposes a fast version of the Gaussian wavelet estimator that shows good performance in this more difficult environment.     

Modelling framework for artificial hybrid dynamical systems

Many current industry branches use hybrid approaches to solve complex application problems. Over the last decades, different tools for the simulation of such hybrid systems (e.g. Hysdel and YAMLIP) as well as the identification of hybrid systems (e.g. HIT, MLP and OAF NN) have been developed. The framework presented in this work facilitates the integration of artificial feed-forward neural networks in the modelling process of hybrid dynamical systems (HDS). Additionally, the framework provides a structured language for characterising these feed-forward networks itself. Therefore, an interdisciplinary exchange in the field of neural networks and its integration into hybrid dynamical systems is enabled. Focusing on hybrid systems with autonomous events, two different approaches, namely the artificial hybrid model and the artificial hybrid dynamics, are introduced. Challenges of the modelling process of HDS are reflected and advantages as well as disadvantages are discussed. The case study includes two common examples of HDS and analyses the simulation results and examines limitations of the modelling framework.     

部分线性模型的随机约束岭估计

研究了部分线性回归模型附加有随机约束条件时的估计问题.基于Profile最小二乘方法和混合估计方法提出了参数分量随机约束下的Profile混合估计,并研究了其性质.为了克服共线性问题,构造了参数分量的Profile混合岭估计,并给出了估计量的偏和方差.     

异方差情形下平均处理效应的半参数估计

本文主要探讨在扰动项分布对称的假定下,平均处理效应的半参数估计。本文考虑了一种非常普遍形式的异方差,使得我们在估计平均处理效应时,大大扩展了对异方差的处理范围。本文给出了N~(1/2)收敛速度的一致估计量及其渐进正态性质。本文遵循参数框架下常见的两步估计方法,这种方法广泛地运用于半参数的研究中。一个简单的Monte Carlo模拟将用来对比说明本文中估计方法的实际意义。     

SimHPN: A MATLAB toolbox for simulation, analysis and design with hybrid Petri nets

This paper presents a MATLAB embedded package for hybrid Petri nets called SimHPN. It offers a collection of tools devoted to simulation, analysis and synthesis of dynamical systems modeled by hybrid Petri nets. The package supports several server semantics for the firing of both, discrete and continuous, types of transitions. Besides providing different simulation options, SimHPN offers the possibility of computing steady state throughput bounds for continuous nets. For such a class of nets, optimal control and observability algorithms are also implemented. The package is fully integrated in MATLAB which allows the creation of powerful algebraic, statistical and graphical instruments that exploit the routines available in MATLAB.