Particle Filter for Fault Diagnosis and Robust Navigation of Underwater Robot

A particle filter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switching-mode hidden Markov model. By extensively running a PF on the model, the FD and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods, the proposed method can diagnose all faults within a single structure, it can diagnose simultaneous faults, and it is easily implemented.

[1]  Rolf Isermann,et al.  Fault-diagnosis systems : an introduction from fault detection to fault tolerance , 2006 .

[2]  G. Bruzzone,et al.  ROV actuator fault diagnosis through servo-amplifiers' monitoring: an operational experience , 1999, Oceans '99. MTS/IEEE. Riding the Crest into the 21st Century. Conference and Exhibition. Conference Proceedings (IEEE Cat. No.99CH37008).

[3]  Eric Bornschlegl,et al.  A Boolean algebraic-based solution for multiple fault diagnosis: Application to a spatial mission , 2011 .

[4]  Nando de Freitas,et al.  The Unscented Particle Filter , 2000, NIPS.

[5]  Inseok Hwang,et al.  A Survey of Fault Detection, Isolation, and Reconfiguration Methods , 2010, IEEE Transactions on Control Systems Technology.

[6]  Alan E. Gelfand,et al.  Bayesian statistics without tears: A sampling-resampling perspective , 1992 .

[7]  Mogens Blanke,et al.  Fault-tolerant control systems — A holistic view , 1997 .

[8]  E. L. Lehmann,et al.  Theory of point estimation , 1950 .

[9]  Ali Alawi,et al.  Real Time Fault Diagnosis , 1997 .

[10]  Neil J. Gordon,et al.  A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking , 2002, IEEE Trans. Signal Process..

[11]  M. Blanke.  Diagnosis and Fault-Tolerant Control for Ship Station Keeping , 2005, Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation Intelligent Control, 2005..

[12]  Khashayar Khorasani,et al.  A Multiple Model-Based Approach for Fault Diagnosis of Jet Engines , 2013, IEEE Transactions on Control Systems Technology.

[13]  J. Stoyanov.  The Oxford Handbook of Nonlinear Filtering , 2012 .

[14]  Jan Lunze,et al.  Qualitative model based fault diagnosis using a threshold level , 2010 .

[15]  Guangjun Liu,et al.  Sensor and Actuator Fault Detection and Isolation for a High Performance Aircraft Engine Bleed Air Temperature Control System , 2011, IEEE Transactions on Control Systems Technology.

[16]  Manuel Davy,et al.  Particle Filtering for Multisensor Data Fusion With Switching Observation Models: Application to Land Vehicle Positioning , 2007, IEEE Transactions on Signal Processing.

[17]  G. N. Roberts,et al.  Thruster fault diagnosis and accommodation for open-frame underwater vehicles , 2004 .

[18]  Fredrik Gustafsson,et al.  Statistical signal processing approaches to fault detection , 2007, Annu. Rev. Control..

[19]  Janos Gertler,et al.  Fault detection and diagnosis in engineering systems , 1998 .

[20]  T. Westerlund,et al.  Remarks on "Asymptotic behavior of the extended Kalman filter as a parameter estimator for linear systems" , 1980 .

[21]  F. Gustafsson,et al.  Complexity analysis of the marginalized particle filter , 2005, IEEE Transactions on Signal Processing.

[22]  N. Gordon,et al.  Novel approach to nonlinear/non-Gaussian Bayesian state estimation , 1993 .

[23]  Youmin Zhang,et al.  Sensor fault masking of a ship propulsion system , 2003 .

[24]  P. Fearnhead,et al.  Improved particle filter for nonlinear problems , 1999 .

[25]  R. Houde,et al.  Implementation of a ROV navigation system using acoustic/Doppler sensors and Kalman filtering , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[26]  F. Gustafsson,et al.  Bayesian Surface and Underwater Navigation , 2006, IEEE Transactions on Signal Processing.

[27]  Jan Lunze,et al.  Sensor and actuator fault diagnosis of systems with discrete inputs and outputs , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[28]  Sebastian Thrun,et al.  Real-time fault diagnosis [robot fault diagnosis] , 2004, IEEE Robotics & Automation Magazine.

[29]  Leigh McCue,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control [Bookshelf] , 2016, IEEE Control Systems.

[30]  Martin Ludvigsen,et al.  Dynamic positioning system for a small size ROV with experimental results , 2011, OCEANS 2011 IEEE - Spain.

[31]  Bo Zhao,et al.  Particle filter ROV navigation using hydroacoustic position and speed log measurements , 2012, 2012 American Control Conference (ACC).

[32]  Chee Pin Tan,et al.  Sliding mode observers for fault detection and isolation , 2002 .

[33]  Thor I. Fossen,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control , 2011 .

[34]  M. V. Iordache,et al.  Diagnosis and Fault-Tolerant Control , 2007, IEEE Transactions on Automatic Control.

[35]  Ali Saberi,et al.  Optimal fault signal estimation , 2002 .

[36]  Arnaud Doucet,et al.  Stochastic sampling algorithms for state estimation of jump Markov linear systems , 2000, IEEE Trans. Autom. Control..

[37]  Thomas B. Schön,et al.  Marginalized particle filters for mixed linear/nonlinear state-space models , 2005, IEEE Transactions on Signal Processing.

[38]  Jun S. Liu,et al.  Metropolized independent sampling with comparisons to rejection sampling and importance sampling , 1996, Stat. Comput..

[39]  A. Doucet,et al.  Particle filtering for partially observed Gaussian state space models , 2002 .

[40]  Jan Lunze,et al.  Fault Diagnosis of Discretely Controlled Continuous Systems by Means of Discrete-Event Models , 2008, Discret. Event Dyn. Syst..

[41]  Mogens Blanke,et al.  FAULT MONITORING AND RE-CONFIGURABLE CONTROL FOR A SHIP PROPULSION PLANT , 1998 .

[42]  M. Blanke,et al.  Identification of a class of nonlinear state-space models using RPE techniques , 1986 .

[43]  A. Zuev,et al.  The development of the adaptive diagnostic system for navigation sensors of autonomous underwater vehicles , 2012, 2012 IEEE International Conference on Mechatronics and Automation.

[44]  Visakan Kadirkamanathan,et al.  Particle filtering based likelihood ratio approach to fault diagnosis in nonlinear stochastic systems , 2001, IEEE Trans. Syst. Man Cybern. Part C.

[45]  Louis L. Whitcomb,et al.  Preliminary field experience with the DVLNAV integrated navigation system for oceanographic submersibles , 2004 .

[46]  Lennart Ljung,et al.  The Extended Kalman Filter as a Parameter Estimator for Linear Systems , 1979 .

[47]  Youmin Zhang,et al.  Bibliographical review on reconfigurable fault-tolerant control systems , 2003, Annu. Rev. Control..

[48]  X. Rong Li,et al.  Fault detection for systems with multiple unknown modes and similar units - Part II: Application to HVAC , 2009, 2009 12th International Conference on Information Fusion.

[49]  Robert E. Mahony,et al.  Nonlinear Complementary Filters on the Special Orthogonal Group , 2008, IEEE Transactions on Automatic Control.

[50]  Niels Kjølstad Poulsen,et al.  Early Detection of Parametric Roll Resonance on Container Ships , 2013, IEEE Transactions on Control Systems Technology.

[51]  George J. Vachtsevanos,et al.  A particle-filtering approach for on-line fault diagnosis and failure prognosis , 2009 .

[52]  Gianluca Antonelli.  A Survey of Fault Detection/Tolerance Strategies for AUVs and ROVs , 2003 .

[53]  B. Rozovskii,et al.  The Oxford Handbook of Nonlinear Filtering , 2011 .

[54]  M. Blanke,et al.  Identification of a class of nonlinear state-space models using RPE techniques , 1986, 1986 25th IEEE Conference on Decision and Control.

[55]  Fredrik Gustafsson,et al.  Estimation of AUV dynamics for sensor fusion , 2007, 2007 10th International Conference on Information Fusion.

[56]  Angelo Alessandri,et al.  Fault detection of actuator faults in unmanned underwater vehicles , 1999 .