Efficient cross-layer concurrent error detection in nonlinear control systems using mapped predictive check states
Efficient cross-layer concurrent error detection in nonlinear control systems using mapped predictive check states
复制标题
使用映射预测检查状态进行非线性控制系统中的高效跨层并发错误检测
DOI：
--
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
J. Abraham
中科院分区：
文献类型：
--
作者：
Suvadeep Banerjee;A. Chatterjee;J. Abraham
由于传感器网络和机器人在广泛的社会应用中的迅速扩散，出于安全和可靠性的原因，它们的基本信号处理和控制功能的无差错操作再次引起了人们的关注。虽然过去已经研究了线性系统中的实时错误检测，但非线性控制功能中的错误检测在很大程度上依赖于在组件、单元或子系统中实现冗余，从而导致过大的面积/性能开销。本文介绍了一种非线性控制状态空间系统的实时错误检测方法，该方法使用映射的预测检查状态来检测传感器和执行器故障以及控制算法在底层处理器上执行时的瞬时错误。在我们的方法中，时间t处的检查状态与非线性系统的相应状态之间存在已知关系。该检查状态也可以通过使用非线性映射的先前系统状态和输入的知识来预测。使用先验已知关系与上面的预测值之间的一致性来检查系统功能中的错误。我们在两个测试案例--使用移动小车的经典非线性倒立摆平衡问题和由非线性滑模控制器驱动的电磁线控制动(BBW)系统上演示了所提出的方法。仿真结果表明，该方法能够有效地检测传感器和执行器功能退化以及控制算法执行过程中的软误差。
The rapid proliferation of sensor networks and robots in a wide range of societal applications has focused renewed attention on error-free operation of their underlying signal processing and control functions for reasons of safety and reliability. While real-time error detection in linear systems has been investigated in the past, error detection in nonlinear control functions has largely relied on implementing redundancy in components, units, or subsystems resulting in excessive area/performance overheads. In this paper, we introduce a realtime error detection methodology for nonlinear control state space systems that uses mapped predictive check states for detecting sensor and actuator malfunctions and transient errors in the execution of the control algorithm on the underlying processor. In our approach, the check state at time t bears a known relationship with the corresponding states of the nonlinear system. This check state can also be predicted from knowledge of the prior system states and inputs using nonlinear mappings. Consistency between the prior known relationship and its predicted value above, is used to check for errors in system function. We demonstrate the proposed approach on two test cases - a classical nonlinear inverted pendulum balancing problem using a moving cart and a nonlinear sliding mode controller driven electromagnetic brake-by-wire (BBW) system. Simulation results show the effectiveness of the proposed approach for detecting degradation of the sensor and actuator functions and soft errors in the execution of the control algorithms.