Robust fault detection for a class of nonlinear network control system with communication delay

To investigate a class of nonlinear network control system, a robust fault diagnosis method is presented based on the robust state observer. To access the objective that the designed robust filter is maximally tolerant to disturbances and sensitive to fault, the robustness and stability properties of the fault diagnosis scheme are established rigorously. Using the residual vector, a fault tolerant controller is established in order to guarantee the stability of the closed-loop system, and the controller law can be obtained by solving a set of linear matrix inequalities. Then, some relevant sufficient conditions for the existence of a solution are given by applying Lyapunov stability theory. Finally, a simulation example is performed to show the effectiveness of the proposed approach.

Robust Nonlinear Analytic Redundancy for Fault Detection and Isolation in Mobile Robot

A robust nonlinear analytical redundancy （RNLAR） technique is presented to detect and isolate actuator and sensor faults in a mobile robot. Both model-plant-mismatch （MPM） and process disturbance are considered during fault detection. The RNLAR is used to design primary residual vectors （PRV）, which are highly sensitive to the faults and less sensitive to MPM and process disturbance, for sensor and actuator fault detection. The PRVs are then transformed into a set of structured residual vectors （SRV） for fault isolation. Experimental results on a Pioneer 3-DX mobile robot are presented to justify the effectiveness of the RNLAR scheme.

Robust fault detection filter and its application in MEMS-based INS/GPS

Since any disturbance and fault may lead to significant performance degradation in practical dynamical systems,it is essential for a system to be robust to disturbances but sensitive to faults.For this purpose,this paper proposes a robust fault-detection filter for linear discrete time-varying systems.The algorithm uses H∞ estimator to minimize the worst possible amplification from disturbances to estimate errors,and H_ index to maximize the minimum effect of faults on the residual output of the filter.This approach is applied to the MEMS-based INS/GPS.And simulation results show that the new algorithm can reduce the effect of unknown disturbances and has a high sensitivity to faults.

Robust Space-Time Adaptive Track-Before-Detect Algorithm Based on Persymmetry and Symmetric Spectrum

Underwater monopulse space-time adaptive track-before-detect method,which combines space-time adaptive detector(STAD)and the track-before-detect algorithm based on dynamic programming(DP-TBD),denoted as STAD-DP-TBD,can effectively detect low-speed weak targets.However,due to the complexity and variability of the underwater environment,it is difficult to obtain sufficient secondary data,resulting in a serious decline in the detection and tracking performance,and leading to poor robustness of the algorithm.In this paper,based on the adaptive matched filter(AMF)test and the RAO test,underwater monopulse AMF-DP-TBD algorithm and RAO-DP-TBD algorithm which incorporate persymmetry and symmetric spectrum,denoted as PSAMF-DP-TBD and PS-RAO-DP-TBD,are proposed and compared with the AMF-DP-TBD algorithm and RAO-DP-TBD algorithm based on persymmetry array,denoted as P-AMF-DP-TBD and P-RAO-DP-TBD.The simulation results show that the four methods can work normally with sufficient secondary data and slightly insufficient secondary data,but when the secondary data is severely insufficient,the P-AMF-DP-TBD and P-RAO-DP-TBD algorithms has failed while the PSAMF-DP-TBD and PS-RAO-DP-TBD algorithms still have good detection and tracking capabilities.

Design of H_∞ robust fault detection filter for nonlinear time-delay systems

In this paper, the robust fault detection filter (RFDF) design problems are studied for nonlinear time-delay systems with unknown inputs. First, a reference residual model is introduced to formulate the RFDF design problem as an H∞ model-matching problem. Then appropriate input/output selection matrices are introduced to extend a performance index to the time-delay systems in time domain. The reference residual model designed according to the performance index is an optimal residual generator, which takes into account the robustness against disturbances and sensitivity to faults simultaneously. Applying robust H∞ optimization control technique, the existence conditions of the RFDF for nonlinear time-delay systems with unknown inputs are presented in terms of linear matrix inequality (LMI) formulation, independently of time delay. An illustrative design example is used to demonstrate the validity and applicability of the proposed approach.

A Robust Fault Detection Approach for Nonlinear Systems

In this paper, we study the robust fault detection problem of nonlinear systems. Based on the Lyapunov method, a robust fault detection approach for a general class of nonlinear systems is proposed. A nonlinear observer is first provided, and a sufficient condition is given to make the observer locally stable. Then, a practical algorithm is presented to facilitate the realization of the proposed observer for robust fault detection. Finally, a numerical example is provided to show the effectiveness of the proposed approach.

A double constrained robust capon beamforming based imaging method for early breast cancer detection

Ultra-wideband （UWB） microwave images are proposed for detecting small malignant breast tumors based on the large contrast of electric parameters between a malignant tumor and normal breast tissue. In this study, an antenna array composed of 9 antennas is applied to the detection. The double constrained robust capon beamforming （DCRCB） algorithm is used for reconstructing the breast image due to its better stability and high signal-to-interference-plus-noise ratio （SINR）. The successful detection of a tumor of 2 mm in diameter shown in the reconstruction demonstrates the robustness of the DCRCB beamforming algorithm. This study verifies the feasibility of detecting small breast tumors by using the DCRCB imaging algorithm.

A Robust Fault Detection Algorithm for the GNSS/INS Integrated Navigation Systems

Integrity is an important index for GNSS-based navigation and positioning, and the receiver autonomous integrity monitoring (RAIM) algorithm has been presented for integrity applications. In the integrated navigation systems of a global navigation satellite system (GNSS) and inertial navigation system (INS),the conventional RAIM algorithm has been developed to extended receiver autonomous integrity monitoring (ERAIM). However, the ERAIM algorithm may fail and a false alarm may generate once the measurements are contaminated by significant outliers, and this problem is rarely discussed in the existing literatures. In this paper, a robust fault detection and the corresponding data processing algorithm are proposed based on the ERAIM algorithm and the robust estimation. In the proposed algorithm, weights of the measurements are adjusted with the equivalent weight function, and the efficiency of the outlier detection and identification is improved, therefore, the estimates become more reliable, and the probability of the false alarm is decreased. Experiments with the data collected under actual environments are implemented, and results indicate that the proposed algorithm is more efficient than the conventional ERAIM algorithm for multiple outliers and a better filtering performance is achieved.

Changepoint Detection with Outliers Based on RWPCA

Changepoint detection faces challenges when outlier data are present. This paper proposes a multivariate changepoint detection method which is based on the robust WPCA projection direction and the robust RFPOP method, RWPCA-RFPOP method. Our method is double robust which is suitable for detecting mean changepoints in multivariate normal data with high correlations between variables that include outliers. Simulation results demonstrate that our method provides strong guarantees on both the number and location of changepoints in the presence of outliers. Finally, our method is well applied in an ACGH dataset.

THE ROBUST OBSERVER FOR FAULTDETECTION OF THE SENSOR

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Robust fault detection and diagnosis for uncertain nonlinear systems

This paper considers robust fault detection and diagnosis for input uncertain nonlinear systems. It proposes a multi-objective fault detection criterion so that the fault residual is sensitive to the fault but insensitive to the uncertainty as much as possible. Then the paper solves the proposed criterion by maximizing the smallest singular value of the transformation from faults to fault detection residuals while minimizing the largest singular value of the transformation from input uncertainty to the fault detection residuals. This method is applied to an aircraft which has a fault in the left elevator or rudder. The simulation results show the proposed method can detect the control surface failures rapidly and efficiently.

Adaptive Robust Waveform Selection for Unknown Target Detection in Clutter

A basic assumption of most recently proposed waveform design algorithms is that the target impulse response is a known deterministic function or a stochastic process with a known power spectral density （PSD）. However, it is well-known that a target impulse response is neither easily nor accurately obtained; besides it changes sharply with attitude angles. Both of the aforementioned cases complicate the waveform design process. In this paper, an adaptive robust waveform selection method for unknown target detection in clutter is proposed. The target impulse response is considered to be unknown but belongs to a known uncertainty set. An adaptive waveform library is devised by using a signal-to-clutter-plus-noise ratio （SCNR）- based optimal waveform design method. By applying the minimax robust waveform selection method, the optimal robust waveform is selected to ensure the lowest performance bound of the unknown target detection in clutter. Results show that the adaptive waveform library outperforms the predefined linear frequency modulation （LFM） waveform library on the SCNR bound.

Robust fault detection in linear systemsbased on full-order state observers

A parametric approach to robust fault detection in linear systems with unknown disturbances is presented. The residual is generated using full-order state observers （FSO）. Based on an analytical solution to a type of Sylvester matrix equations, the parameterization of the observer gain matrix is given. In terms of the design degrees of freedom provided by the parametric observer design and a group of introduced parameter vectors, a sufficient and necessary condition for fullorder state observer design with disturbance decoupling is then established. By properly constraining the design parameters according to this proposed condition, the effect of the disturbance on the residual signal is also decoupled, and a simple algorithm is developed. The presented approach offers all the degrees of design freedom. Finally, a numerical example illustrates the effect of the proposed approach.

A fuzzy adaptive smoothing approach to robust endpoint detection based on MDL using sub-band speech

To develop a more robust endpoint detection algorithm, this paper first proposes a fuzzy adaptive smoothing algorithm. The general idea underlying adaptive smoothing is to adapt the short-term sub-band mean of the amplitude to the local attributes of speech on the basis of discontinuity measures. The adaptive smoothing algorithm in this paper utilizes a scale-space framework through the minimal description length （MDL）. We recommend using the fuzzy muhi-attribute decision making approach to select the proper sub-bands where the word boundary can be more reliably detected. The process and simulation of the fuzzy adaptive smoothing algorithm are given. The parameters utilize the mean amplitude of the audible frequency range （300 -3 700 Hz） and the sub-band mean of the amplitude （16 band filter-bank）. We selected the audible band energy because of its usefulness in detecting high-energy regions and making the distinction between speech and noise. Otherwise, the fuzzy adaptive smoothing algorithm is processed in sub-band speech to utilize the full range of frequency information.

Robust fault detection for delta operator switched fuzzy systems with bilateral packet losses

Considering packet losses, time-varying delay, and parameter uncertainty in the switched fuzzy system, this paper designs a robust fault detection filter at any switching rate and analyzes the H∞ performance of the system. Firstly, the Takagi-Sugeno(T-S) fuzzy model is used to establish a global fuzzy model for the uncertain nonlinear time-delay switched system,and the packet loss process is modeled as a mathematical model satisfying Bernoulli distribution. Secondly, through the average dwell time method and multiple Lyapunov functions, the exponentially stable condition of the nonlinear network switched system is given. Finally, specific parameters of the robust fault detection filter can be obtained by solving linear matrix inequalities(LMIs). The effectiveness of the method is verified by simulation results.

Parametrically Optimal, Robust and Tree-Search Detection of Sparse Signals

We consider sparse signals embedded in additive white noise. We study parametrically optimal as well as tree-search sub-optimal signal detection policies. As a special case, we consider a constant signal and Gaussian noise, with and without data outliers present. In the presence of outliers, we study outlier resistant robust detection techniques. We compare the studied policies in terms of error performance, complexity and resistance to outliers.

Robust Principal Component Test in Gross Error Detection and Identification

Principle component analysis （PCA） based chi-square test is more sensitive to subtle gross errors and has greater power to correctly detect gross errors than classical chi-square test. However, classical principal com- ponent test （PCT） is non-robust and can be very sensitive to one or more outliers. In this paper, a Huber function liked robust weight factor was added in the collective chi-square test to eliminate the influence of gross errors on the PCT. Meanwhile, robust chi-square test was applied to modified simultaneous estimation of gross error （MSEGE） strategy to detect and identify multiple gross errors. Simulation results show that the proposed robust test can reduce the possibility of type Ⅱ errors effectively. Adding robust chi-square test into MSEGE does not obviously improve the power of multiple gross error identification, the proposed approach considers the influence of outliers on hypothesis statistic test and is more reasonable.

Adaptive Endpoint Detection Based on Subband Speech

An adaptive endpoint detection algorithm based on band energy and adaptive smoothing algorithm is described. This algorithm utilizes the capability of adaptive smoothing algorithm that intensifies the discontinuity between local areas. The band energy features are selected because of their usefulness in detecting high energy regions (in the incoming signal) and making the distinction between speech and noise. Heuristic 'edge-focusing' is used to endpoint detection to save the time in iteration.

Design of parametric fault detection systems: An H-infinity optimization approach

Problems related to the design of observer-based parametric fault detection(PFD) systems are studied. The core of our study is to first describe the faults occurring in systemactuators, sensors and components in the form of additive parameter deviations, then to transformthe PFD problems into a similar additive fault setup, based on which an optimal observer-basedoptimization fault detection approach is proposed. A constructive solution optimal in the sense ofminimizing a certain performance index is developed. The main results consist of defining parametricfault detectability, formulating a PFD optimization problem and its solution. A numerical exampleto demonstrate the effectiveness of the proposed approach is provided.