• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2582-2587
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• 2003

This paper proposes an application of sliding mode observer to the problem of fault detection and reconstruction for descriptor systems with both actuator and sensor faults. In detecting and reconstructing the faults simultaneously, first, we will consider the fault detection problem for sensor fault. The detection of sensor fault is achieved from the design of the matrix which eliminates the influence of actuator fault. Secondly, the sliding mode observer which adds the general full-order observer for descriptor system to feedforward injection map and feedforward compensation signal is designed, and through which the sensor fault is reconstructed. Finally, with the reconstructed sensor fault, and by eliminating differential term of the sensor fault, the actuator fault is detected and reconstructed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.116.5-116
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• 2001

When inertial navigation system(INS) employ more sensors that mutually orthogonal sets to three, the redundant sensor system can have improved reliability and accuracy. For the redundant system the placement of redundant sensors is related to the system performance and also the number and proper orientation of sensors are important. We consider INS sensor configurations using two IMUs comprised mutually orthogonal sets of three. We suggest several configurations using two IMUs and analyze the system performance and the FDI(fault detection and isolation) properties from suggested configurations.

• 한국ITS학회 논문지
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• 제22권3호
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• pp.175-189
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• 2023

자율주행 차량의 무결성과 내결함성을 보장하기 위한 환경 인식 센서의 결함 감지 및 격리(FDI) 알고리즘이 중요한 연구 주제로 다루어지고 있다. 본 논문에서는 자율주행 차량의 안전성 보장을 위한 레이다, 카메라, 라이다로 구성된 다중 인지 시스템 결함 검출 알고리즘을 제시하였다. 제안된 결함 감지 알고리즘은 FIR(Finite Impulse Response) 필터 추정치에 기반한 레지듀얼의 생성 및 분석으로 고장의 감지 및 격리를 수행한다. 알고리즘의 성능 검증을 위해 가상환경에서의 수치 시뮬레이션을 수행하여 알고리즘을 기존의 칼만 필터 기반 알고리즘과 비교 및 고찰하였다. 결과적으로 제안된 알고리즘은 인지 시스템의 강건성을 확보할 수 있음을 검증하였다. 본 연구는 자율주행 차량의 안전성과 신뢰성을 확보하기 위한 필수적인 연구로, 자율주행 차량의 환경 인지 센서의 무결성을 향상 시킬 것으로 판단된다.

• 제어로봇시스템학회논문지
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• 제8권8호
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• pp.698-705
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• 2002

The redundant sensor configuration problem of inertial navigation system(INS) is considered and analyzed the navigation and fault detection performance according to various sensor configurations. We considered various kinds of redundant sensor configurations for symmetric, cone, and orthogonal configurations and compare the navigation and fault detection performance for the configurations. We show that the navigation and fault detection performance is not affected by the coordinate change for a fixed configuration.

• International Journal of Control, Automation, and Systems
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• 제5권2호
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• pp.155-160
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• 2007

A fault detection and isolation (FDI) problem is considered for inertial sensors, such as gyroscopes and accelerometers and a new FDI method for double faults is proposed using reduced-order parity vector. The reduced-order parity vector (RPV) algorithm enables us to isolate double faults with 7 sensors. Averaged parity vector is used to reduce false alarm and wrong isolation, and to improve correct isolation. The RPV algorithm is analyzed by Monte-Carlo simulation and the performance is given through fault detection probability, correct isolation probability, and wrong isolation probability.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권2호
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• pp.81-86
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• 2005

In this paper we consider an optimal configuration problem for redundant inertial sensors which have uncertainty such as misalignment, scale factor error. The optimal configuration problem is treated from the viewpoint of navigation accuracy. We propose a necessary and sufficient condition for the optimal configuration of redundant sensors with no uncertainty, and a sufficient condition for the optimal configuration of redundant sensors with uncertainty. Finally we propose a condition for the optimal configuration based both navigation performance and FDI(fault detection and isolation).

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1037-1043
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• 2004

In this paper, a new fault detection and isolation algorithm fur inertial sensor system is proposed. To identify the inertial sensor fault, single antenna GPS receiver is used as an effective redundancy source. To use GPS receiver as redundancy for the inertial sensors, the algorithm to estimate the attitude and acceleration using single antenna GPS receiver is adopted. By using Doppler shift of carrier phase signal and kinetic characteristics of aircraft, attitude information of aircraft can be obtained at the coordinated flight condition. Based on this idea, fault diagnosis algorithm for inertial sensors using single antenna GPS based attitude is proposed. For more effective FDI, decision variables considering the aircraft maneuver are proposed. The effectiveness of the proposed algorithm is verified through the numerical simulations.

• 한국정밀공학회지
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• 제14권2호
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• pp.41-47
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• 1997

Fault diagnosis problem is currently a subject of extensive research in the control field. Although there are several works on the fault detection and isolation observers and the residual generators, those are con- cerned with only the detection of actuator failures or sensor failures. So, the perfect detection and isolation for the actuator and sensor failures is strongly required in the field of the practical applications. In this paper, a strategy of fault diagnosis using multiple proportional integral (PI) observers including the magnitude of actuator failures is provided. It is shown that actuator failures are detected and isolated perfectly by monitoring the integrated error between actual output and estimated output by a PI observer. Also in presence of complex actuator and sensor failures, these failures are detected and isolated by multiple PI observers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.287-290
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• 1996

Fault diagnosis problem is currently the subject of extensive research and numerous survey paper can be found. Although several works are studied on the fault detection and isolation observers and the residual generators, those are concerned with only the detection of actuator failures or sensor failures. So, the perfect detection and isolation is strongly required for practical applications. In this paper, a, strategy of fault diagnosis using multiple proportional integral (PI) observers including the magnitude of actuator failures is provided. It is shown that actuator failures are detected and isolated perfectly by monitoring the integrated error between actual output and estimated output by a PI observer. Also in presence of complex actuator and sensor failures, these failures are detected and isolated by multiple PI observers.

• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.1002-1008
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• 2009

We consider a double faults detection and isolation problem using modified extended parity space approach for inertial measurement unit which use redundant inertial sensors. A redundant IMU which has a hardware redundant is composed of the cone shape because it is good for fault detection and isolation. We analyze the type of double faults and the reason why fault isolation performance is low. We propose modified extended parity space approach method using EPSA and the difference of sensor data.