This paper adresses the design process of diagnosis and fault-tolerant control when the a system should operate despite multiple failures in sensors or actuators. Graph-teory based analysis of systems structure is demonstrated to be a unique design methodology that can cope with the diagnosis design for systems of high complexity, and also analyse the cases of cascaded or multiple faults. The paper takes as example a ship with two CP propellers, rudders and a bow thruster as actuators, and instrumentation with a suite of global position sensors, inertial navigation units and conventional gyro units to provide ship motion information. A salient feature of the design mehod is the ability to analyse cases where faults have occurrred and easily determine where in the faulty system diagnosability and controlability are retained.
2005 Ieee International Symposium on Intelligent Control and 13th Mediterranean Conference on Control and Automation, 2005, p. 1385-1390
Fault Diagnosis; Structural analysis; Autonomous systems; Fault-tolerant Control; Marine Control Systems
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2005 IEEE International Symposium on Intelligent Control and 13th Mediterranean Conference on Control and Automation, 2005