Control reconfiguration: Difference between revisions

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{{Short description|Approach in control theory to achieve fault-tolerant control for dynamic systems}}
'''Control reconfiguration''' is an active approach in [[control theory]] to achieve [[Fault-Tolerant Control|fault-tolerant control]] for [[dynamic systems]].<ref>{{Harv|Blanke|Kinnaert|Lunze|Staroswiecki|2006}}</ref>. It is used when severe [[Fault (technology)|faults]], such as actuator or sensor outages, cause a break-up of the [[control loop]], which must be restructured to prevent [[failure]] at the system level. In addition to loop restructuring, the [[Controller (control theory)|controller]] parameters must be adjusted to accommodate changed plant dynamics. Control reconfiguration is a building block toward increasing the [[dependability]] of systems under [[feedback]] control.<ref>{{Harv|Patton|1997}}</ref>

== Reconfiguration problem ==

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=== Fault modelling ===

The figure to the right shows a plant controlled by a controller in a standard control loop.

The nominal linear model of the plant is

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\mathbf{y}_f & = \mathbf{C}_f\mathbf{x}_f\end{cases}</math>

where the subscript <math>f</math> indicates that the system is faulty. This approach models multiplicative faults by modified system matrices. Specifically, actuator faults are represented by the new input matrix <math>\mathbf{B}_f</math>, sensor faults are represented by the output map <math>\mathbf{C}_f</math>, and internal plant faults are represented by the system matrix <math>\mathbf{A}_f</math>.

The upper part of the figure shows a supervisory loop consisting of ''fault detection and isolation'' (FDI) and ''reconfiguration'' which changes the loop by

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# Stabilization

# Equilibrium recovery

# Output trajectory recovery

# State trajectory recovery

# Transient time response recovery

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== Reconfiguration approaches ==

=== Fault hiding ===

[[Image:FaultHiding with Goals.png|frame|Fault hiding principle. A reconfiguration block is placed between faulty plant and nominal controller. The reconfuiguredreconfigured plant behaviour must match the nominal behaviour. Furthermore, the reconfiguration goals are pointed out.]]

This paradigm aims at keeping the nominal controller in the loop. To this end, a reconfiguration block can be placed between the faulty plant and the nominal controller. Together with the faulty plant, it forms the reconfigured plant. The reconfiguration block has to fulfill the requirement that the behaviour of the reconfigured plant matches the behaviour of the nominal, that is fault-free plant.<ref>{{Harv|Steffen|2005}}</ref>

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== Further reading ==

* {{Citation

| lastlast1=Blanke | firstfirst1=M. | last2=Kinnaert | first2=M.

| last3=Lunze | first3=J. | last4=Staroswiecki | first4=M.

| year= 2006 | edition=2nd

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| publisher=IFAC | place=Prague, Czech Republic}}

* {{Citation

| lastlast1=Lunze| firstfirst1=J. | last2=Rowe-Serrano | first2=D.

| last3=Steffen | first3=T. | year=2003

| chapter=Control Reconfiguration Demonstrated at a Two-Degrees-of-Freedom Helicopter Model

| title=Proceedings of European Control Conference (ECC) | place=Cambridge, UK.}}

* {{Citation

| lastlast1=Maciejowski | firstfirst1=J. | last2=Jones | first2=C. | year=2003

| chapter=MPC Fault-Tolerant Flight Control Case Study: Flight 1862

| title=ProceedingProceedings of the SAFEPROCESS 2003: 5th Symposium on Detection and Safety for Technical Processes

| publisher=IFAC | place=Washington D.C., USA | pages=265–276}}

* {{Citation

| lastlast1=Mahmoud | firstfirst1=M. | last2=Jiang | first2=J.

| last3=Zhang | first3=Y. | year= 2003

| title=Active Fault Tolerant Control Systems - Stochastic Analysis and Synthesis

| publisher=Springer}}

* {{Citation

| lastlast1=Zhang | firstfirst1=Y. | last2=Jiang | first2=J. | year= 2003

| chapter=Bibliographical review on reconfigurable fault-tolerant control systems

| title=ProceedingProceedings of the SAFEPROCESS 2003: 5th Symposium on Detection and Safety for Technical Processes

| publisher=IFAC | place=Washington D.C., USA | pages=265–276}}

* {{Citation

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| journal=IEEE Control Systems Magazine

| title=Autonomous control reconfiguration

| volume=15 | number=6 | pages=37–48 | doi=10.1109/37.476385}}

* {{Citation

| last=Rauch | first=H. E. | year= 1994

| journal=IEEE Control Systems Magazine

| title=Intelligent fault diagnosis and control reconfiguration

| volume=14 | number=3 | pages=6–12 | doi=10.1109/37.291462| s2cid=39931526 }}

* {{Citation

| lastlast1=Gao | firstfirst1=Z. | last2=Antsaklis | first2=P.J.

| year= 1991 | journal=International Journal of Control

| title=Stability of the pseudo-inverse method for reconfigurable control systems

| volume=53 | number=3 | pages=717–729 | doi=10.1080/00207179108953643}}

* {{Citation

| lastlast1=Looze | firstfirst1=D. | last2=Weiss | first2=J.L.

| last3=Eterno | first3=J.S. | last4=Barrett | first4=N.M.

| year= 1985 | journal=IEEE Control Systems Magazine

| title=An Automatic Redesign Approach for Restructurable Control Systems|volume=5

| number=2 | pages=16–22 | doi=10.1109/mcs.1985.1104940| s2cid=12684489 }}.

* {{Citation

| lastlast1=Esna Ashari | firstfirst1=A. | last2=Khaki Sedigh | first2=A.

| last3=Yazdanpanah | first3=M. J. | year= 2005

| journal=International Journal of Control

| title=Reconfigurable control system design using eigenstructure assignment: static, dynamic and robust approaches

| volume=78 | number=13 | pages=1005-10161005–1016 | doi=10.1080/00207170500241817| s2cid=121350006 }}.

[[Category:Control theory]]