Development on Fault Diagnosis and Fault-Tolerant Cooperative Control Techniques with Applications to Safety-Critical Systems

可靠性、安全性和可用性（RSA）是人类生活中广泛、综合和绝对核心的问题。有各种各样的系统，其RSA对我们的生活至关重要。电网（从发电到配电）、运输系统（有人驾驶和无人驾驶的空中/地面/水面车辆（无人机/UGV/USV）等）是这些安全关键系统的重要例子。* 一个重要的问题是，我们今天的电网有多可靠和弹性？随着基础设施的老化和新的运营挑战的出现，包括风能和太阳能等间歇性可再生能源的发电和集成，电力系统的RSA正在受到挑战。为了应对这些挑战，被称为智能电网的下一代电网将是一个集成微电网网络，这些微电网是地理上紧凑的单元，能够整合当地的可再生能源发电。对于这样一个互联的网络，相关的组件和单元需要在能够提供可靠、高效和环保的电力的合作框架中进行控制。*** 在其他安全关键系统的例子中，如无人机/UGV/USV，RSA的必要性甚至更加迫切。从电视新闻中，我们听到一些自然灾害，如地震，火山，森林火灾和核反应堆故障。对于这些危险和不确定的环境，通过人员和载人系统来处理这些灾害是困难或不安全的。因此，无人系统（US），包括UAV，UGV和USV，变得越来越有用和流行。在一组美国人的帮助下，我们可以完成一些单一车辆无法完成的，以前不可能完成的困难任务。在这种情况下，由于可能的系统故障、损坏、通信故障，一个或多个US在使命期间可能无法操作，因此US组之间的容错协同控制（FTCC）对于实际应用变得必要。 考虑到上述事实，一个问题自然出现：如何保证上述安全关键系统的RSA要求？事实上，保证上述要求的最有效的技术包括有效的监控，故障诊断和FTCC技术。虽然上述安全关键系统属于不同的学科，从航空航天，机械和电气系统，他们是相似的，从控制和状态监测的观点。本提案的目的是开发先进实用的技术，为上述问题和应用提供系统的理论和方法的可能解决方案。换句话说，本项目的主要任务是为US和智能电网等前沿研究和开发领域开发新的故障诊断和FTCC技术。

Reliability, safety, and availability (RSA) are broad, integrated and definitely core issues in human life. There are wide varieties of systems that their RSA are so critical to our lives. Electrical grids (from power generation to distribution), transportation systems (manned and unmanned aerial/ground/surface vehicles (UAVs/UGVs/USVs), etc.) are important examples of these safety-critical systems.*** One important question is that how reliable and resilient is our today's grid? The RSA of the power systems are being challenged, as the infrastructure ages and as new operating challenges emerge—including the generation and integration of intermittent renewable energies like wind and solar. To address such challenges, the next-generation electricity grid, known as smart grid, will be a network of integrated microgrids that are geographically compact units capable of integrating local renewable energy generation. For such an interconnected network, the relevant components and units need to be controlled in a cooperative framework capable of providing power that is reliable, efficient, and environmentally responsible. *** In the other examples of safety-critical systems such as UAVs/UGVs/USVs, the necessity of RSA is even more immediate. From TV news, we hear about some natural disasters such as earthquakes, volcanoes, forest fires, and nuclear reactor malfunctions. For these dangerous and uncertain environments, it is difficult or unsafe to deal with these disasters by personnel and manned systems. Therefore, unmanned systems (USs), including UAVs, UGVs and USVs, become useful and more and more popular. With the aid of a group of USs, we can complete certain difficult missions which cannot be completed with a single vehicle and impossible before. In this case, fault-tolerant cooperative control (FTCC) among the group of USs becomes necessary for practical applications since one or more USs may fail to operate during a mission due to possible system malfunctions, damages, communication failures.*** Considering the above-mentioned facts, one question arises naturally: how to guarantee the RSA requirements of the above-mentioned safety-critical systems? In fact, the most enabling technologies to guarantee the mentioned requirements include effective techniques for monitoring, fault diagnosis, and FTCC. Although the mentioned safety-critical systems belong to different disciplines ranging from aerospace, mechanical, and electrical systems, they are similar from control and condition monitoring viewpoint. The objective of this proposal is to develop advanced and practical techniques for providing possible solutions to the above-mentioned issues and applications with systematic theory and methodologies. In another words, the main task of this project is to develop new fault diagnosis and FTCC techniques to USs and smart grids in such cutting-edge research and development areas.