A Model Integrated Computing Tool-Suite for Fault-Adaptive Control

The proliferation of safety-critical embedded systems has created great demands for online fault diagnosis and fault-adaptive control techniques. A number of methodologies have been proposed, but the implementation of on-line schemes that integrate the fault detection, isolation, identification, and fault accommodation or reconfiguration tasks remains challenging. We present a tool chain using a Model Integrated Computing (MIC) approach to develop Fault adaptive control systems. The domain specific features support physical system behavior modeling using the Hybrid Bond Graph paradigm. This, combined with models of the controller, fault detection, isolation, identification, fault-adaptation and reconfiguration schemes provides the basis for developing the run-time online computational system. The key component of the runtime system is an active state model representation that is dynamically updated as mode changes occur in the system. FDI is realized through the Hybrid TRANSCEND scheme, and a decision theoretic approach to fault adaptivity is being developed. An additional feature of our system includes a simulation system automatically generated from the system model that allows for experimentation with a range of fault scenarios. We illustrate the work on a water recovery system application.