Fault Detection and Classification in Underwater Vehicles Using the T 2 Statistic
نویسندگان
چکیده
This paper deals with fault detection and classification as a part of our on-going research in the integrated design of reconfigurable control systems. The objective of reconfigurable control is to provide fault-tolerant control in an uncertain or changing environment. This will be accomplished by detecting changes in the current operation of the system from what is expected and then changing the controller model so that acceptable performance is achieved. The approach that we are investigating is the use of a data-driven method with the Hotelling T 2 statistic [1, 2, 3] for fault detection coupled with the use of multiple controllers, each designed for a different operating condition. These different conditions may include failure modes as well as less severe changes in the environment that cause significant differences in the system's behavior.
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