TY - GEN
T1 - Generating semi-explicit DAEs with Structural Index 1 for fault diagnosis using structural analysis
AU - Zogopoulos-Papaliakos, Georgios
AU - Kyriakopoulos, Kostas J.
N1 - Funding Information:
The authors are with Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens, Greece {gzogop, kkyria}@mail.ntua.gr The presentation of this paper was partially made possible through a travel grant by the ”C. Mavroidis Award of Excellence in Robotics and Automation” at the NTUA.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - 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.
AB - 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.
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U2 - 10.1109/ICRA.2017.7989682
DO - 10.1109/ICRA.2017.7989682
M3 - Conference contribution
AN - SCOPUS:85027973276
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5812
EP - 5817
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -