Fault Detection and Isolation Multi-Vehicle Unmanned Systems
Fault Detection and Isolation: Multi-Vehicle Unmanned Systems deals with the design and development of fault detection and isolation algorithms for unmanned vehicles such as spacecraft, aerial drones and other related vehicles. Addressing fault detection
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Nader Meskin • Khashayar Khorasani
Fault Detection and Isolation Multi-Vehicle Unmanned Systems
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Nader Meskin Department of Electrical Engineering College of Engineering Qatar University PO Box 2713, Doha, Qatar [email protected]
Khashayar Khorasani Concordia University Dept. Electrical & Computer Engineering 1455 de Maisonneuve Blvd. West H3G 1M8 Montreal Québec Canada [email protected]
ISBN 978-1-4419-8392-3 e-ISBN 978-1-4419-8393-0 DOI 10.1007/978-1-4419-8393-0 Springer New York Dordrecht Heidelberg London © Springer Science+Business Media, LLC 2011 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
To Mojdeh, my wife and to Moslem and Soraya, my parents for their unwavering love Nader Meskin
To My Family Khashayar Khorasani
Preface
Recent technological advances have generated a broad interest in cooperative control, management, and monitoring of systems composed of autonomous unmanned vehicles such as spacecraft, unmanned aerial vehicles, autonomous underwater vehicles, automated highway systems and multiple mobile robots. In these systems, a vehicle can interact autonomously with environment and other vehicles to perform tasks that are beyond the capabilities of individual vehicles. The ultimate ambitious goal of these systems is to achieve autonomy, representing the capability of these networked vehicles to accomplish the mission goals in face of significant uncertainty and unexpected events such as faults all with minimal or without human intervention. Unmanned vehicles such as unmanned aerial vehicles (UAVs) are indeed among the most complicated systems that are being developed with applications to both civilian and military domains. Since these vehicles operate in an environment subjected to a high degree of uncertainties and disturbances, the problem of precise and accurate control and estimation of these vehicles is difficult and requires advanced control and estimation theories. On the other hand, with an increasing requirement for control systems to be more secure and reliable, fault tolerance in such control systems is becoming more and more critical and significant. In presence of undesirable effects such as failures in the actuators or sensors, the vehicles control systems must be responsive and adaptive to such failur
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