- Title
- Integrated minimum-time trajectory generation, fault detection, and reconfiguration for a double-tank system using flatness and B-splines
- Creator
- Suryawan, Fajar; De Doná, José; Seron, María
- Relation
- 1st Australian Control Conference, 2011 (AUCC 2011). Proceedings of the 1st Australian Control Conference 2011 (Melbourne 10-11 November, 2011) p. 173-178
- Relation
- http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6114333
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2011
- Description
- The main contribution of this paper is to provide a unified treatment to the problems of constrained minimum-time trajectory generation, fault detection and identification, and (after a fault has been detected and identified) trajectory reconfiguration, in an integrated scheme using a differential flatness and B-splines parameterisation. Using the flatness/B-splines parameterisation the problem of minimum-time constrained trajectory planning is cast into a feasibility-search problem in the splines control-points space, in which the constraint region is characterised by a polytope. A close approximation of the minimum-time trajectory is obtained by systematically searching the end-time that makes the constraint polytope to be minimally feasible. Fault detection is carried out by using B-splines in an FIR filter implementation. Thus, the three - traditionally dealt with separately - problems (namely, trajectory generation, fault detection, and trajectory reconfiguration) are solved in a unified manner, using the same mathematical/computational tools. This, not only offers an elegant solution, but also has the potential to simplify the coding of the algorithms for the real-time application of the strategy. All through the paper, a case-study consisting in an input-constrained double-tank system is analysed in order to illustrate the techniques in an intuitive manner.
- Subject
- FIR filters; fault diagnosis; optimal control; splines mathematics; trajectory control
- Identifier
- http://hdl.handle.net/1959.13/1039793
- Identifier
- uon:13701
- Identifier
- ISBN:9780858259874
- Rights
- Copyright © 2011 IEEE. This is an author-prepared version of the article, reprinted from Proceedings of the 1st Australian Control Conference 2011, p. 173-178
- Language
- eng
- Full Text
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