Set-based detection and isolation of intersampled delays and pocket dropouts in networked control

Abstract

This paper focuses on the set-based method for detection and isolation of the network-induced time-delays and packet dropouts. We particularly pay attention to the systems described by a linear discrete-time equation affected by additive disturbances, controlled via redundant communication channels prone to intersampled time-delays and packet dropouts. Time-delays and packet dropouts are considered as faults from a classical control theory perspective. We will show that fault detection and isolation can be achieved indirectly through the separation of positively invariant sets that correspond to the closed-loop dynamics with healthy and faulty communication channels. For this purpose, in order to provide a reference signal that uniquely guarantees the fault detection and isolation in real time, we design a reference governor using receding horizon technique. © 2013 Springer-Verlag.