Generating semi-explicit DAEs with Structural Index 1 for fault diagnosis using structural analysis

Georgios Zogopoulos-Papaliakos, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Structural Analysis is a lucrative option for Fault Detection and Identification in Unmanned Aerial Vehicles (UAVs), because it handles detailed, large-scale mathematical models. It can be employed by an on-board flight computer to generate residual generators and implement automatic fault-detection. Contemporary algorithms applied on dynamic systems may yield residual generators which require the real-time solution of Differential-Algebraic Equation (DAE) systems. Depending on the form and differential index of each DAE system, its solution may not be possible exclusively by computational means. In this paper we explore the relation between Structural Analysis algorithms and the forms of DAE systems they produce, propose conditions under which all generated DAEs are Structural Index-1 and semi-explicit and provide a large-scale fixed-wing UAV model with that property.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5812-5817
Number of pages6
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/TerritorySingapore
CitySingapore
Period5/29/176/3/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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