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Détail de l'auteur
Auteur Khorasani, K.
Documents disponibles écrits par cet auteur
Affiner la rechercheA Hybrid fault detection and isolation strategy for a network of unmanned vehicles in presence of large environmental disturbances / N. Meskin in IEEE Transactions on control systems technology, Vol. 18 N° 6 (Novembre 2010)
in IEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1422-1429
Titre : A Hybrid fault detection and isolation strategy for a network of unmanned vehicles in presence of large environmental disturbances Type de document : texte imprimé Auteurs : N. Meskin, Auteur ; Khorasani, K., Auteur ; Rabbath, C. A., Auteur Année de publication : 2011 Article en page(s) : pp. 1422-1429 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Fault detection and isolation (FDI) Hybrid fault diagnosis Large environmental disturbances Network of unnanned systems Index. décimale : 629.1 Résumé : In this brief, the problem of designing and developing a hybrid fault detection and isolation (FDI) scheme for a network of unmanned vehicles (NUVs) that is subject to large environmental disturbances is investigated. The proposed FDI algorithm is a hybrid architecture that is composed of a bank of continuous-time residual generators and a discrete-event system (DES) fault diagnoser. A novel set of residuals is generated so that the DES fault diagnoser empowered by incorporating appropriate combinations of the residuals and their sequential features will robustly detect and isolate faults in the NUVs. Our proposed hybrid FDI algorithm is then applied to actuator fault detection and isolation in a network of quad-rotors. Simulation results demonstrate and validate the performance capabilities of our proposed hybrid FDI algorithm.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5378507 [article] A Hybrid fault detection and isolation strategy for a network of unmanned vehicles in presence of large environmental disturbances [texte imprimé] / N. Meskin, Auteur ; Khorasani, K., Auteur ; Rabbath, C. A., Auteur . - 2011 . - pp. 1422-1429.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1422-1429
Mots-clés : Fault detection and isolation (FDI) Hybrid fault diagnosis Large environmental disturbances Network of unnanned systems Index. décimale : 629.1 Résumé : In this brief, the problem of designing and developing a hybrid fault detection and isolation (FDI) scheme for a network of unmanned vehicles (NUVs) that is subject to large environmental disturbances is investigated. The proposed FDI algorithm is a hybrid architecture that is composed of a bank of continuous-time residual generators and a discrete-event system (DES) fault diagnoser. A novel set of residuals is generated so that the DES fault diagnoser empowered by incorporating appropriate combinations of the residuals and their sequential features will robustly detect and isolate faults in the NUVs. Our proposed hybrid FDI algorithm is then applied to actuator fault detection and isolation in a network of quad-rotors. Simulation results demonstrate and validate the performance capabilities of our proposed hybrid FDI algorithm.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5378507
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 127, N° 2 (Juin 2005) . - 289-294 p.
Titre : A Neural Network Controller for a Class of Nonlinear Non-minimum Phase Systems with Application to a Flexible-Link Manipulator Titre original : Un Contrôleur de Réseau Neurologique pour une Classe des Systèmes Non-Linéaires de Phase de Non-Minimum avec l'Application à un Manipulateur de Flexible-Lien Type de document : texte imprimé Auteurs : Talebi, H. A., Auteur ; Patel, R. V., Auteur ; Khorasani, K. Article en page(s) : 289-294 p. Note générale : Génie Mécanique Langues : Anglais (eng) Mots-clés : Système non-linéaire Boucle ouverte Réseau neurologique Rendement Controleur Manipulateur flexible Index. décimale : 620.1/389 Résumé : This paper investigates the problem of controlling a nonlinear nonminimum phase system. An output re-definition strategy is first introduced to guarantee stable zero dynamics. This output re-definition scheme is applicable to a class of open loop stable nonlinear systems whose input-output maps contain nonlinear terms in the output and linear terms in the input. No explicit knowledge about the nonlinearities of the system is required. The nonlinearities of the system are identified by a neural network. The identified neural network model is then used in modifying the zero dynamics of the system. A stable/antistable factorization is performed on the zero dynamics of the system. The new output is re-defined using the neural identifier and the stable part of the zero dynamics. A controller is then designed based on the new output whose zero dynamics are stable and can be inverted. An experimental setup of a single-link flexible manipulator is considered as a practical case study of a nonlinear nonminimum phase system. Experimental results are presented to illustrate the advantages and improved performance of the proposed tracking controller over both linear and nonlinear conventional controllers in the presence of unmodeled dynamics and parameter variations.
Cet article étudie le problème de commander un système non-linéaire de phase de nonminimum. Une stratégie de redéfinition de rendement est d'abord présentée pour garantir la dynamique nulle d'écurie. Cet arrangement de redéfinition de rendement est applicable à une classe des systèmes non-linéaires stables de boucle ouverte dont les cartes d'entrée-sortie contiennent des limites non-linéaires dans le rendement et des limites linéaires dans l'entrée. Aucune connaissance explicite au sujet des non-linéarités du système n'est exigée. Les non-linéarités du système sont identifiées par un réseau neurologique. Le modèle identifié de réseau neurologique est alors employé en modifiant la dynamique nulle du système. Une factorisation de stable/antistable est effectuée sur la dynamique nulle du système. Le nouveau rendement est redéfini en utilisant la marque neurale et la partie stable de la dynamique nulle. Un contrôleur est alors conçu basé sur le nouveau rendement dont la dynamique nulle est stable et peut être inversée. Une installation expérimentale d'un manipulateur flexible de simple-lien est considérée comme étude de cas pratique d'un système non-linéaire de phase de nonminimum. Des résultats expérimentaux sont présentés pour illustrer les avantages et l'exécution améliorée du contrôleur de cheminement proposé au-dessus des contrôleurs conventionnels linéaires et non-linéaires en présence de unmodeled des variations de dynamique et de paramètre.En ligne : alit@aut.ac.ir, rajni@eng.uwo.ca, kash@ece.concordia.ca [article] A Neural Network Controller for a Class of Nonlinear Non-minimum Phase Systems with Application to a Flexible-Link Manipulator = Un Contrôleur de Réseau Neurologique pour une Classe des Systèmes Non-Linéaires de Phase de Non-Minimum avec l'Application à un Manipulateur de Flexible-Lien [texte imprimé] / Talebi, H. A., Auteur ; Patel, R. V., Auteur ; Khorasani, K. . - 289-294 p.
Génie Mécanique
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 127, N° 2 (Juin 2005) . - 289-294 p.
Mots-clés : Système non-linéaire Boucle ouverte Réseau neurologique Rendement Controleur Manipulateur flexible Index. décimale : 620.1/389 Résumé : This paper investigates the problem of controlling a nonlinear nonminimum phase system. An output re-definition strategy is first introduced to guarantee stable zero dynamics. This output re-definition scheme is applicable to a class of open loop stable nonlinear systems whose input-output maps contain nonlinear terms in the output and linear terms in the input. No explicit knowledge about the nonlinearities of the system is required. The nonlinearities of the system are identified by a neural network. The identified neural network model is then used in modifying the zero dynamics of the system. A stable/antistable factorization is performed on the zero dynamics of the system. The new output is re-defined using the neural identifier and the stable part of the zero dynamics. A controller is then designed based on the new output whose zero dynamics are stable and can be inverted. An experimental setup of a single-link flexible manipulator is considered as a practical case study of a nonlinear nonminimum phase system. Experimental results are presented to illustrate the advantages and improved performance of the proposed tracking controller over both linear and nonlinear conventional controllers in the presence of unmodeled dynamics and parameter variations.
Cet article étudie le problème de commander un système non-linéaire de phase de nonminimum. Une stratégie de redéfinition de rendement est d'abord présentée pour garantir la dynamique nulle d'écurie. Cet arrangement de redéfinition de rendement est applicable à une classe des systèmes non-linéaires stables de boucle ouverte dont les cartes d'entrée-sortie contiennent des limites non-linéaires dans le rendement et des limites linéaires dans l'entrée. Aucune connaissance explicite au sujet des non-linéarités du système n'est exigée. Les non-linéarités du système sont identifiées par un réseau neurologique. Le modèle identifié de réseau neurologique est alors employé en modifiant la dynamique nulle du système. Une factorisation de stable/antistable est effectuée sur la dynamique nulle du système. Le nouveau rendement est redéfini en utilisant la marque neurale et la partie stable de la dynamique nulle. Un contrôleur est alors conçu basé sur le nouveau rendement dont la dynamique nulle est stable et peut être inversée. Une installation expérimentale d'un manipulateur flexible de simple-lien est considérée comme étude de cas pratique d'un système non-linéaire de phase de nonminimum. Des résultats expérimentaux sont présentés pour illustrer les avantages et l'exécution améliorée du contrôleur de cheminement proposé au-dessus des contrôleurs conventionnels linéaires et non-linéaires en présence de unmodeled des variations de dynamique et de paramètre.En ligne : alit@aut.ac.ir, rajni@eng.uwo.ca, kash@ece.concordia.ca
in Transactions of the ASME . Journal of engineering for gas turbines and power > Vol. 134 N° 1 (Janvier 2012) . - 10 p.
Titre : Nonlinear fault diagnosis of jet engines by using a multiple model-based approach Type de document : texte imprimé Auteurs : E. Naderi, Auteur ; N. Meskin, Auteur ; Khorasani, K., Auteur Année de publication : 2012 Article en page(s) : 10 p. Note générale : Génie mécanique Langues : Anglais (eng) Mots-clés : Actuators Compressors Fault diagnosis Gas turbines Jet engines Kalman filters Index. décimale : 620.1 Essais des matériaux. Défauts des matériaux. Protection des matériaux Résumé : In this paper, a nonlinear fault detection and isolation (FDI) scheme that is based on the concept of multiple model approach is proposed for jet engines. A modular and a hierarchical architecture is proposed which enables the detection and isolation of both single as well as concurrent permanent faults in the engine. A set of nonlinear models of the jet engine in which compressor and turbine maps are used for performance calculations corresponding to various operating modes of the engine (namely, healthy and different fault modes) is obtained. Using the multiple model approach, the probabilities corresponding to the engine modes of operation are first generated. The current operating mode of the system is then detected based on evaluating the maximum probability criteria. The performance of our proposed multiple model FDI scheme is evaluated by implementing both the extended Kalman filter and the unscented Kalman filter as detection filters. Simulation results presented demonstrate the effectiveness of our proposed multiple model FDI algorithm for both structural and actuator faults in the jet engine. DEWEY : 620.1 ISSN : 0742-4795 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JETPEZ000134000001 [...] [article] Nonlinear fault diagnosis of jet engines by using a multiple model-based approach [texte imprimé] / E. Naderi, Auteur ; N. Meskin, Auteur ; Khorasani, K., Auteur . - 2012 . - 10 p.
Génie mécanique
Langues : Anglais (eng)
in Transactions of the ASME . Journal of engineering for gas turbines and power > Vol. 134 N° 1 (Janvier 2012) . - 10 p.
Mots-clés : Actuators Compressors Fault diagnosis Gas turbines Jet engines Kalman filters Index. décimale : 620.1 Essais des matériaux. Défauts des matériaux. Protection des matériaux Résumé : In this paper, a nonlinear fault detection and isolation (FDI) scheme that is based on the concept of multiple model approach is proposed for jet engines. A modular and a hierarchical architecture is proposed which enables the detection and isolation of both single as well as concurrent permanent faults in the engine. A set of nonlinear models of the jet engine in which compressor and turbine maps are used for performance calculations corresponding to various operating modes of the engine (namely, healthy and different fault modes) is obtained. Using the multiple model approach, the probabilities corresponding to the engine modes of operation are first generated. The current operating mode of the system is then detected based on evaluating the maximum probability criteria. The performance of our proposed multiple model FDI scheme is evaluated by implementing both the extended Kalman filter and the unscented Kalman filter as detection filters. Simulation results presented demonstrate the effectiveness of our proposed multiple model FDI algorithm for both structural and actuator faults in the jet engine. DEWEY : 620.1 ISSN : 0742-4795 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JETPEZ000134000001 [...]
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1155-1161
Titre : Team consensus for a network of unmanned vehicles in presence of actuator faults Type de document : texte imprimé Auteurs : Elham Semsar-Kazerooni, Auteur ; Khorasani, K., Auteur Année de publication : 2011 Article en page(s) : pp. 1155-1161 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Actuator faults Cooperative control Fault diagnosis Team consensus Index. décimale : 629.1 Résumé : In this paper, performance analysis of a team of unmanned vehicles (agents) that are subject to actuator faults is investigated. The team goal is to accomplish a cohesive motion in a modified leader-follower architecture by using a semi-decentralized optimal control strategy. The controller, which is recently proposed by the authors, is designed based on minimization of individual cost functions by using the available information from the neighboring sets. It is shown that a loss of effectiveness (LOE) fault in an actuator does not deteriorate the stability nor the consensus seeking goal of the team. This fault would only result in a different transient behavior, e.g., a change in the agent's convergence rate, without a change in the consensus value. On the other hand, if the fault in one or more of the agents is of the float type, either in the leader or the followers, the team could not maintain its consensus any longer, however the stability of the team can still be guaranteed. Moreover, the leader and the healthy followers adapt themselves to the follower's change when a float fault occurs in one of the agents. Finally, the behavior of the team in presence of the lock-in-place (LIP) actuator fault is also investigated. Simulation results are provided to demonstrate the performance of the team subject to the above three actuator fault scenarios.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5286246 [article] Team consensus for a network of unmanned vehicles in presence of actuator faults [texte imprimé] / Elham Semsar-Kazerooni, Auteur ; Khorasani, K., Auteur . - 2011 . - pp. 1155-1161.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1155-1161
Mots-clés : Actuator faults Cooperative control Fault diagnosis Team consensus Index. décimale : 629.1 Résumé : In this paper, performance analysis of a team of unmanned vehicles (agents) that are subject to actuator faults is investigated. The team goal is to accomplish a cohesive motion in a modified leader-follower architecture by using a semi-decentralized optimal control strategy. The controller, which is recently proposed by the authors, is designed based on minimization of individual cost functions by using the available information from the neighboring sets. It is shown that a loss of effectiveness (LOE) fault in an actuator does not deteriorate the stability nor the consensus seeking goal of the team. This fault would only result in a different transient behavior, e.g., a change in the agent's convergence rate, without a change in the consensus value. On the other hand, if the fault in one or more of the agents is of the float type, either in the leader or the followers, the team could not maintain its consensus any longer, however the stability of the team can still be guaranteed. Moreover, the leader and the healthy followers adapt themselves to the follower's change when a float fault occurs in one of the agents. Finally, the behavior of the team in presence of the lock-in-place (LIP) actuator fault is also investigated. Simulation results are provided to demonstrate the performance of the team subject to the above three actuator fault scenarios.
DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5286246
