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1、DesignofanAdaptiveKalmanFilterforFaultDetectionofNetworkedControlSystemsK.Chabir*+,D.Sauter+,M.KoniBenGayed*andM.NaceurAbdelkrim*AbstractNetworkedcontrolsystems(NCS)areanactiveareaofresearchwithincontrolandestimation.Networkedcontrolsystemshavemanyadvantagesbycomparisonwiththetraditionalo
2、nes.ThefaultdetectionproblemisstudiedinthispaperforaclassoflinearNetworkedControlSystems(NCS)withcommunicationdelays.Aimistogenerateresidualsignalswhich,inthefaultfreecase,aresupposedtobeidenticallyzero.Inpractice,thisconditionisnotsatisfiedduetovariousfactorssuchasmeasurementsnoises,mode
3、luncertainties,disturbancesandalsoforNCS,induceddelaysanddatadropouts.Inthispaper,anewapproachforrobustfaultdiagnosisispresented.ThemethodisbasedontheuseofanadaptiveKalmanfilterdesignedinordertominimizetheeffectofthenetwork.Ⅰ.INTRODUCTIONNetworkedControlSystem(NCS)isafeedbackcontrolsystem
4、whereincontrolandfeedbacksignalsareexchangedamongthesystem'scomponentsintheformofinformationpacketsthroughanetwork.ThefunctionalityofatypicalNCSisestablishedbytheuseoffourbasicelementsinthecontrolloop:Sensors,tocollectinformation,Controllers,toprovidedecisionandcommands,Actuators,toperfor
5、mthecontrolcommandsand,Communicationnetwork,toenableexchangeofinformation.Comparedwithconventionalpoint-to-pointcontrolsystems,theadvantagesofNCSarelesswiring,lowerinstallcostaswellasgreateragilityindiagnosisandmaintenance.Becauseofthesedistinctivebenefits,typicalapplicationofthesesystems
6、rangesovervariousfields,suchasautomotive,mobilerobotics,advancedaircraft,andsoon.However,theintroductionofcommunicationnetworksinthecontrolloopsmakestheanalysisandsynthesisofNCScomplex[1]-[3].Thereareseveralnetwork-inducedeffectsthatarisewhendealingwiththeNCS,suchastime-delays,packetlosse
7、sandlimitedcommunication.Becauseoftheinherentcomplexityofsuchsystems,thecontrolissuesofNCShaveattractedmostattentionofmanyresearcherswithtakingintoaccountnetwork-inducedeffects.Theseconstraintstakeaconsiderableimportanceduringthecontrolandthediagnosisoffastprocesses
