- Title
- Integrated framework for constrained minimum-time trajectory generation, fault detection and reconfiguration: a case-study
- Creator
- Suryawan, Fajar; De Doná, José; Seron, María
- Relation
- International Journal of Adaptive Control and Signal Processing Vol. 30, Issue 7, p. 986-1001
- Publisher Link
- http://dx.doi.org/10.1002/acs.2651
- Publisher
- John Wiley & Sons
- Resource Type
- journal article
- Date
- 2016
- Description
- This paper provides a unified treatment to the problems of constrained minimum-time trajectory generation, fault detection and isolation 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 problems (namely, trajectory generation, fault detection and trajectory reconfiguration), which are traditionally dealt with separately, are solved in a unified manner, using the same mathematical/computational tools. This, not only offers a unified solution but also simplifies the use of mathematical libraries in the coding of algorithms for real-time applications. All through the paper, a case-study consisting in a nonlinear input-constrained double-tank system is analysed in order to illustrate the techniques in an intuitive manner.
- Subject
- constrained control; minimum-time trajectory generation; fault-tolerant control; fault detection and isolation; trajectory reconfiguration; splines; differential flatness
- Identifier
- http://hdl.handle.net/1959.13/1320332
- Identifier
- uon:24128
- Identifier
- ISSN:0890-6327
- Language
- eng
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