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、完整且绝对核心的问题。有各种各样的系统，它们的RSA对我们的生活是如此关键。电网(从发电到配电)、运输系统(载人和无人驾驶的空中/地面/水面飞行器(无人机/无人驾驶飞行器/无人驾驶飞行器)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有多强的弹性？随着基础设施的老化以及新的运营挑战的出现，电力系统的RSA正面临挑战，包括风能和太阳能等间歇性可再生能源的产生和整合。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由集成微电网组成的网络，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。对于这种互连的网络，相关组件和单元需要在能够提供可靠、高效和对环境负责的电力的合作框架内进行控制。在无人机/无人驾驶飞行器/无人飞行器等其他安全关键系统的例子中，RSA的必要性甚至更加紧迫。从电视新闻中，我们听到了一些自然灾害，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，依靠人员和载人系统来应对这些灾害是困难或不安全的。因此，包括无人机、无人驾驶飞行器和无人飞行器在内的无人驾驶系统(USS)变得越来越有用和普及。在一组美国航空母舰的帮助下，我们可以完成一些困难的任务，这些任务是单一运载工具无法完成的，也是以前不可能完成的。在这种情况下，由于一个或多个USS在执行任务期间可能由于系统故障、损坏、通信故障而无法运行，因此在实际应用中需要一组USS之间的容错协作控制(FTCC)。考虑到上述事实，一个问题自然产生：如何保证上述安全关键系统的RSA要求？事实上，最能保证上述要求的技术包括有效的监控、故障诊断和FTCC技术。尽管上述安全关键系统属于航空航天、机械和电气系统等不同学科，但从控制和状态监测的角度来看，它们是相似的。这项提议的目标是开发先进和实用的技术，以系统的理论和方法为上述问题和应用提供可能的解决办法。换言之，本项目的主要任务是为USS和智能电网等前沿研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 emergeincluding 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.