Shai Arogeti | Ben Gurion University of the Negev (original) (raw)

Papers by Shai Arogeti

Research paper thumbnail of Vehicle yaw stability control using active limited-slip differential via model predictive control methods

Vehicle System Dynamics, 2015

ABSTRACT

Research paper thumbnail of Yaw stability control for a rear double-driven electric vehicle using LPV-H∞ methods

Science China Information Sciences, 2018

This paper presents a new yaw stability controller for a rear double-driven electric vehicle. A l... more This paper presents a new yaw stability controller for a rear double-driven electric vehicle. A linear parameter varying (LPV) model of the vehicle is formulated using longitudinal speed measurement and tire cornering stiffness estimation. The LPV model is then utilized to design a gain-scheduled H∞ controller with guaranteed stability. Results from simulations, performed with CarSim, show that the new controller improves the vehicle performance and handling even in extreme maneuvers and that it is robust to model parameter uncertainties.

Research paper thumbnail of Mode tracking and diagnosis of hybrid systems, an integrated approach

2012 12th International Conference on Control Automation Robotics & Vision (ICARCV), 2012

ABSTRACT In this paper, we integrate information from a hybrid bond graph (HBG) model and discret... more ABSTRACT In this paper, we integrate information from a hybrid bond graph (HBG) model and discrete event systems (DES) into a fault diagnosis method for hybrid systems. In a pure HBG framework, mode change detection and isolation is handled by the mode change signature and the mode change signature matrix. In a DES approach, discrete states and faults are traced based on observable events and diagnosers. The integration of the two approaches is based on a new diagnoser that is driven by both, observable events and consistency indicators generated by continuous residuals. The proposed method allows not only to effectively trace the system mode, but also to decide whether this mode is faulty or normal. The new method is presented along with a theoretical example.

Research paper thumbnail of Active chatter control in orthogonal cutting

Turning-machining is an important manufacturing process, widely used in industry. The dynamic int... more Turning-machining is an important manufacturing process, widely used in industry. The dynamic interaction between the tool and the workpiece may cause regenerative chatter, that is associated with poor surface finish, reduced product quality and low productivity. The demand for accuracy motivates development of active vibration control methods based on realistic dynamic models of the turning process. This study investigates the performance of a novel active robust control law for chatter attenuation that is based on an extended dynamical model of the chatter regenerative process. The extended model describes an external turning process, and includes the influence of the workpiece elasticity and the actuator finite bandwidth.

Research paper thumbnail of Set-point regulation for a robot with model uncertainties

In this work we introduce a smooth linear control algorithm for the set-point regulation of a rob... more In this work we introduce a smooth linear control algorithm for the set-point regulation of a robot with an certainties in it mathematical model. This control algorithm incorporates position measurement only, while compensating for the unknown gravity forces.

Research paper thumbnail of Robot controller design for achieving global asymptotic stability and local prescribed performance

IEEE Transactions on Robotics, 2004

This paper presents some useful results which follow from the particular structural properties of... more This paper presents some useful results which follow from the particular structural properties of a rigid robot model while the system is subject to the action of an output feedback. Given a rigid robot model, the controller ensures, in addition to the global asymptotic stability property, an eigenvalues assignment of the resulting linearized model within the stable region of the complex plane. In this way, required global and local control objectives can be achieved. Furthermore, the design of the controller is accomplished by applying a sort of a decoupling procedure that decomposes the entire nonlinear closed-loop system to a set of reduced-order nonlinear systems. The dependence of the eigenvalues of the linearized model on the model uncertainties is investigated. Simulation results that demonstrate the potential of the approach are presented.

Research paper thumbnail of On controllability and trajectory tracking of a kinematic vehicle model

Automatica, 2005

This paper presents some further results concerning the issues of controllability and trajectory ... more This paper presents some further results concerning the issues of controllability and trajectory tracking regarding a front-wheel drive vehicle kinematic model. A simple procedure for computing an open-loop control strategy that transfers the system between given initial and final states, is presented. In particular, the input function is computed by means of a set of linear algebraic equations. The resulting motion planning procedure allows us to present a control scheme for solving the trajectory (a time-parameterized reference signal) tracking problem. Various applications of the approach in forward and backward motions are considered, and simulation results are presented.

Research paper thumbnail of Robot set-point control and spacecraft attitude regulation: some useful structural properties and new results

This paper reveals some new structural properties of a rigid robot with state and output-based co... more This paper reveals some new structural properties of a rigid robot with state and output-based controllers. Applications of these properties allow one to design a controller that ensures both, global asymptotic stability of the nonlinear system and eigenvalues assignment of the resulting linear approximation within the stable region of the complex plane. Hence, required global and local control objective can be attained. Applications of the results to spacecraft attitude control are demonstrated.

Research paper thumbnail of A simple velocity-free controller for attitude regulation of a spacecraft with delayed feedback

IEEE Transactions on Automatic Control, 2004

In this note, we consider the application of a velocity-free controller for attitude regulation o... more In this note, we consider the application of a velocity-free controller for attitude regulation of a rigid spacecraft with gas jet actuators when the effects of time-delays in the feedback loop are taken into consideration. Simple sufficient conditions for exponential stability are presented. Some structural properties of the resulting closed-loop system are studied, and relevant design tools are demonstrated.

Research paper thumbnail of Revisiting problems associated with structural properties of robots with applications to controller design

This paper presents new results which follow from the particular structural properties of a rigid... more This paper presents new results which follow from the particular structural properties of a rigid robot model while the system is under an action of an output feedback. Given a rigid robot model, the controller ensures in addition to the global asymptotic stability property, an eigenvalues assignment of the resulting linearized model within the stable region of the complex plane. In this way required global and local control objectives can be achieved. Furthermore, the design of the controller is accomplished by applying a sort of decoupling procedure that decomposes the entire nonlinear closed-loop system to a set of reduced-order nonlinear systems. The dependence of the eigenvalues associated with the linearized model, on the system uncertainties, is investigated. Numerical examples and simulation results that demonstrate the potential of the approach, are presented.

Research paper thumbnail of Fault and Mode Switching Identification for Hybrid Systems with Application to Electro-Hydraulic System in Vehicles

This paper describes a methodology for simultaneous identification of fault parame-ters and mode ... more This paper describes a methodology for simultaneous identification of fault parame-ters and mode switching events for hybrid systems. The method is developed based on the notion of Global Analytical Redundancy Relations (GARR) from the bond graph model of the hybrid system. A unified formula with mode change time sequence and initial mode coefficients (IMC) is derived to represent the mode switching. It employs Genetic Algorithm (GA) to search for fault parameters and mode switching time stamps. Fault parameters, mode switching time stamps and all IMC are encoded into one chromosome as a potential solution of the identification process. GARRs are used as a fitness index in GA search. An electro-hydraulic system of vehicle is studied to illustrate the efficiency of the proposed algorithm.

Research paper thumbnail of Path Following of Autonomous Vehicles in the Presence of Sliding Effects

IEEE Transactions on Vehicular Technology, 2012

In this paper, a new controller for the pathfollowing problem of a car-like autonomous vehicle is... more In this paper, a new controller for the pathfollowing problem of a car-like autonomous vehicle is proposed. This controller is based on a new transformation that, for the case of roll with no slip, transfers the model to a chain form. However, in many practical cases, due to the strong effects of tire slip angles, a roll with no slip assumption is invalid. To cope with the presence of slip, a novel controller is proposed. The new method is based on a vehicle kinematical model, where the tire slip angles are taken into account. The control design method utilizes a peak-to-peak criterion and linear matrix inequality (LMI) tools to attenuate tire slip angle effects on the closed-loop performance.

Research paper thumbnail of Fault parameter estimation for hybrid systems using hybrid bond graph

... Israel (e-mail: arogeti@bgu.ac.il). M. Luo is with the Singapore Institute of Manufacturing T... more ... Israel (e-mail: arogeti@bgu.ac.il). M. Luo is with the Singapore Institute of Manufacturing Technology, 71 Nanyang Drive, Singapore 638075 (e-mail: mluo@SIMTech.a-star.edu.sg) complex hybrid system, based on the bond ...

Research paper thumbnail of Mode Identification of Hybrid Systems in the Presence of Fault

IEEE Transactions on Industrial Electronics, 2010

A mode identification method for hybrid system diagnosis is proposed. The method is presented as ... more A mode identification method for hybrid system diagnosis is proposed. The method is presented as a module of a quantitative health monitoring framework for hybrid systems. After fault occurrence, the fault is detected and isolated. The next step is fault parameters estimation, where the size of the fault is identified. Fault parameter estimation is based on data collected from the hybrid system while the system is faulty, and its dynamical model is partially unknown. A hybrid system's dynamics consists of continuous behavior and discrete states represented by modes. Fault parameter estimation requires knowledge of the monitored system's operating mode. The new method utilizes the partially known dynamical model to identify hybrid system modes in the presence of a single parametric fault.

Research paper thumbnail of Simultaneous fault and mode switching identification for hybrid systems based on particle swarm optimization

Expert Systems With Applications, 2010

Research paper thumbnail of Causality Assignment and Model Approximation for Hybrid Bond Graph: Fault Diagnosis Perspectives

IEEE Transactions Automation Science and Engineering, 2010

Bond graph (BG) is an effective tool for modeling complex systems and it has been proven to be us... more Bond graph (BG) is an effective tool for modeling complex systems and it has been proven to be useful for fault detection and isolation (FDI) purposes for large continuous systems. BG provides causality between system's variables which allows FDI algorithms to be developed systematically from the graph. Similarly, Hybrid bond graph (HBG) is a bond graph-based modeling approach which provides an avenue to model complex hybrid systems; however, due to the lack of understanding, HBG has not been well-utilized for fault diagnosis. This is the first of a two-part paper that investigates the feasibility of utilizing HBG for quantitative FDI applications for hybrid systems. In this first paper, we present an analysis on the causality properties of the HBG where useful properties and insights associated with FDI applications are gained. Based on these properties, a causality assignment procedure and modeling approximation techniques are developed to achieve a HBG with a causality that facilitates efficient and effective FDI design for hybrid systems.

Research paper thumbnail of Fault detection and isolation in a mobile robot test-bed

Recently, a Bond-graph based Fault Detection and Isolation (FDI) framework has been developed wit... more Recently, a Bond-graph based Fault Detection and Isolation (FDI) framework has been developed with a new concept of Global Analytical Redundancy Relations (GARRs). This new concept allows the fault diagnosis for hybrid systems which consist of both continuous dynamics and discrete modes. In this paper the newly developed method is studied in details using an electro-hydraulic steering system of a CyCab mobile robot. GARRs are derived systematically from a Hybrid Bond Graph (HBG) model with a specific causality assignment. FDI is applied, experimental setup is described, and results are discussed.

Research paper thumbnail of iDiagnosis & Prognosis - An intelligent platform for complex manufacturing

Manufacturing shop floor dynamics such as tool breakage or machine performance degradation or bre... more Manufacturing shop floor dynamics such as tool breakage or machine performance degradation or breakdown will disrupt the execution of planned production schedules. An intelligent shop floor is one that is able to react to changes that are occurring in a positive way. To give the early warning of the system/equipment health conditions and job execution capability to the supervisory control will improve the productivity and efficiency of the shop floor. This paper presents a new concept called iDiagnosis & Prognosis - an intelligent diagnosis, prognosis, manufacturing system condition and job execution capability assessment system based on the Internet, Web service and agent technologies. The paper introduces the basic concept of iDiagnosis & Prognosis. The proposed approach provides system functions, architecture and system components. The iDiagnosis & Prognosis dynamic model encompasses both information flow and event handling of the shop floor dynamics.

Research paper thumbnail of iDiagnosis & prognosis for supporting of manufacture

Manufacturing shop floor dynamics such as machine performance degradation or breakdown will affec... more Manufacturing shop floor dynamics such as machine performance degradation or breakdown will affect the execution of planned production schedules. An intelligent shop floor is able to react to changes in a positive way. To give the early warning of the system/equipment health conditions and mission execution capability to the supervisory control will improve the productivity and efficiency of the shop

Research paper thumbnail of Quantitative Hybrid Bond Graph-Based Fault Detection and Isolation

IEEE Transactions Automation Science and Engineering, 2010

ABSTRACT This research result consists of two parts: one is general theory on causality assignmen... more ABSTRACT This research result consists of two parts: one is general theory on causality assignment for hybrid bond graph (HBG) and another is application of this concept to the quantitative fault diagnosis. From Low et al., 2008, a foundation for quantitative bond graph-based fault detection and isolation (FDI) design using HBG is laid. Useful causality properties pertaining to the HBG from FDI perspectives, and the concept of diagnostic hybrid bond graph (DHBG) which is advantageous for efficient and effective FDI applications are proposed. This paper is a continuation of our previous paper (Low et al., 2008). Here, the DHBG is exploited to analyze the hybrid system's fault detectability and fault isolability. Additionally, a quantitative FDI framework for effective fault diagnosis for hybrid systems is proposed. Simulation and experimental results are presented to validate some key concepts of the quantitative hybrid bond graph-based FDI framework.

Research paper thumbnail of Vehicle yaw stability control using active limited-slip differential via model predictive control methods

Vehicle System Dynamics, 2015

ABSTRACT

Research paper thumbnail of Yaw stability control for a rear double-driven electric vehicle using LPV-H∞ methods

Science China Information Sciences, 2018

This paper presents a new yaw stability controller for a rear double-driven electric vehicle. A l... more This paper presents a new yaw stability controller for a rear double-driven electric vehicle. A linear parameter varying (LPV) model of the vehicle is formulated using longitudinal speed measurement and tire cornering stiffness estimation. The LPV model is then utilized to design a gain-scheduled H∞ controller with guaranteed stability. Results from simulations, performed with CarSim, show that the new controller improves the vehicle performance and handling even in extreme maneuvers and that it is robust to model parameter uncertainties.

Research paper thumbnail of Mode tracking and diagnosis of hybrid systems, an integrated approach

2012 12th International Conference on Control Automation Robotics & Vision (ICARCV), 2012

ABSTRACT In this paper, we integrate information from a hybrid bond graph (HBG) model and discret... more ABSTRACT In this paper, we integrate information from a hybrid bond graph (HBG) model and discrete event systems (DES) into a fault diagnosis method for hybrid systems. In a pure HBG framework, mode change detection and isolation is handled by the mode change signature and the mode change signature matrix. In a DES approach, discrete states and faults are traced based on observable events and diagnosers. The integration of the two approaches is based on a new diagnoser that is driven by both, observable events and consistency indicators generated by continuous residuals. The proposed method allows not only to effectively trace the system mode, but also to decide whether this mode is faulty or normal. The new method is presented along with a theoretical example.

Research paper thumbnail of Active chatter control in orthogonal cutting

Turning-machining is an important manufacturing process, widely used in industry. The dynamic int... more Turning-machining is an important manufacturing process, widely used in industry. The dynamic interaction between the tool and the workpiece may cause regenerative chatter, that is associated with poor surface finish, reduced product quality and low productivity. The demand for accuracy motivates development of active vibration control methods based on realistic dynamic models of the turning process. This study investigates the performance of a novel active robust control law for chatter attenuation that is based on an extended dynamical model of the chatter regenerative process. The extended model describes an external turning process, and includes the influence of the workpiece elasticity and the actuator finite bandwidth.

Research paper thumbnail of Set-point regulation for a robot with model uncertainties

In this work we introduce a smooth linear control algorithm for the set-point regulation of a rob... more In this work we introduce a smooth linear control algorithm for the set-point regulation of a robot with an certainties in it mathematical model. This control algorithm incorporates position measurement only, while compensating for the unknown gravity forces.

Research paper thumbnail of Robot controller design for achieving global asymptotic stability and local prescribed performance

IEEE Transactions on Robotics, 2004

This paper presents some useful results which follow from the particular structural properties of... more This paper presents some useful results which follow from the particular structural properties of a rigid robot model while the system is subject to the action of an output feedback. Given a rigid robot model, the controller ensures, in addition to the global asymptotic stability property, an eigenvalues assignment of the resulting linearized model within the stable region of the complex plane. In this way, required global and local control objectives can be achieved. Furthermore, the design of the controller is accomplished by applying a sort of a decoupling procedure that decomposes the entire nonlinear closed-loop system to a set of reduced-order nonlinear systems. The dependence of the eigenvalues of the linearized model on the model uncertainties is investigated. Simulation results that demonstrate the potential of the approach are presented.

Research paper thumbnail of On controllability and trajectory tracking of a kinematic vehicle model

Automatica, 2005

This paper presents some further results concerning the issues of controllability and trajectory ... more This paper presents some further results concerning the issues of controllability and trajectory tracking regarding a front-wheel drive vehicle kinematic model. A simple procedure for computing an open-loop control strategy that transfers the system between given initial and final states, is presented. In particular, the input function is computed by means of a set of linear algebraic equations. The resulting motion planning procedure allows us to present a control scheme for solving the trajectory (a time-parameterized reference signal) tracking problem. Various applications of the approach in forward and backward motions are considered, and simulation results are presented.

Research paper thumbnail of Robot set-point control and spacecraft attitude regulation: some useful structural properties and new results

This paper reveals some new structural properties of a rigid robot with state and output-based co... more This paper reveals some new structural properties of a rigid robot with state and output-based controllers. Applications of these properties allow one to design a controller that ensures both, global asymptotic stability of the nonlinear system and eigenvalues assignment of the resulting linear approximation within the stable region of the complex plane. Hence, required global and local control objective can be attained. Applications of the results to spacecraft attitude control are demonstrated.

Research paper thumbnail of A simple velocity-free controller for attitude regulation of a spacecraft with delayed feedback

IEEE Transactions on Automatic Control, 2004

In this note, we consider the application of a velocity-free controller for attitude regulation o... more In this note, we consider the application of a velocity-free controller for attitude regulation of a rigid spacecraft with gas jet actuators when the effects of time-delays in the feedback loop are taken into consideration. Simple sufficient conditions for exponential stability are presented. Some structural properties of the resulting closed-loop system are studied, and relevant design tools are demonstrated.

Research paper thumbnail of Revisiting problems associated with structural properties of robots with applications to controller design

This paper presents new results which follow from the particular structural properties of a rigid... more This paper presents new results which follow from the particular structural properties of a rigid robot model while the system is under an action of an output feedback. Given a rigid robot model, the controller ensures in addition to the global asymptotic stability property, an eigenvalues assignment of the resulting linearized model within the stable region of the complex plane. In this way required global and local control objectives can be achieved. Furthermore, the design of the controller is accomplished by applying a sort of decoupling procedure that decomposes the entire nonlinear closed-loop system to a set of reduced-order nonlinear systems. The dependence of the eigenvalues associated with the linearized model, on the system uncertainties, is investigated. Numerical examples and simulation results that demonstrate the potential of the approach, are presented.

Research paper thumbnail of Fault and Mode Switching Identification for Hybrid Systems with Application to Electro-Hydraulic System in Vehicles

This paper describes a methodology for simultaneous identification of fault parame-ters and mode ... more This paper describes a methodology for simultaneous identification of fault parame-ters and mode switching events for hybrid systems. The method is developed based on the notion of Global Analytical Redundancy Relations (GARR) from the bond graph model of the hybrid system. A unified formula with mode change time sequence and initial mode coefficients (IMC) is derived to represent the mode switching. It employs Genetic Algorithm (GA) to search for fault parameters and mode switching time stamps. Fault parameters, mode switching time stamps and all IMC are encoded into one chromosome as a potential solution of the identification process. GARRs are used as a fitness index in GA search. An electro-hydraulic system of vehicle is studied to illustrate the efficiency of the proposed algorithm.

Research paper thumbnail of Path Following of Autonomous Vehicles in the Presence of Sliding Effects

IEEE Transactions on Vehicular Technology, 2012

In this paper, a new controller for the pathfollowing problem of a car-like autonomous vehicle is... more In this paper, a new controller for the pathfollowing problem of a car-like autonomous vehicle is proposed. This controller is based on a new transformation that, for the case of roll with no slip, transfers the model to a chain form. However, in many practical cases, due to the strong effects of tire slip angles, a roll with no slip assumption is invalid. To cope with the presence of slip, a novel controller is proposed. The new method is based on a vehicle kinematical model, where the tire slip angles are taken into account. The control design method utilizes a peak-to-peak criterion and linear matrix inequality (LMI) tools to attenuate tire slip angle effects on the closed-loop performance.

Research paper thumbnail of Fault parameter estimation for hybrid systems using hybrid bond graph

... Israel (e-mail: arogeti@bgu.ac.il). M. Luo is with the Singapore Institute of Manufacturing T... more ... Israel (e-mail: arogeti@bgu.ac.il). M. Luo is with the Singapore Institute of Manufacturing Technology, 71 Nanyang Drive, Singapore 638075 (e-mail: mluo@SIMTech.a-star.edu.sg) complex hybrid system, based on the bond ...

Research paper thumbnail of Mode Identification of Hybrid Systems in the Presence of Fault

IEEE Transactions on Industrial Electronics, 2010

A mode identification method for hybrid system diagnosis is proposed. The method is presented as ... more A mode identification method for hybrid system diagnosis is proposed. The method is presented as a module of a quantitative health monitoring framework for hybrid systems. After fault occurrence, the fault is detected and isolated. The next step is fault parameters estimation, where the size of the fault is identified. Fault parameter estimation is based on data collected from the hybrid system while the system is faulty, and its dynamical model is partially unknown. A hybrid system's dynamics consists of continuous behavior and discrete states represented by modes. Fault parameter estimation requires knowledge of the monitored system's operating mode. The new method utilizes the partially known dynamical model to identify hybrid system modes in the presence of a single parametric fault.

Research paper thumbnail of Simultaneous fault and mode switching identification for hybrid systems based on particle swarm optimization

Expert Systems With Applications, 2010

Research paper thumbnail of Causality Assignment and Model Approximation for Hybrid Bond Graph: Fault Diagnosis Perspectives

IEEE Transactions Automation Science and Engineering, 2010

Bond graph (BG) is an effective tool for modeling complex systems and it has been proven to be us... more Bond graph (BG) is an effective tool for modeling complex systems and it has been proven to be useful for fault detection and isolation (FDI) purposes for large continuous systems. BG provides causality between system's variables which allows FDI algorithms to be developed systematically from the graph. Similarly, Hybrid bond graph (HBG) is a bond graph-based modeling approach which provides an avenue to model complex hybrid systems; however, due to the lack of understanding, HBG has not been well-utilized for fault diagnosis. This is the first of a two-part paper that investigates the feasibility of utilizing HBG for quantitative FDI applications for hybrid systems. In this first paper, we present an analysis on the causality properties of the HBG where useful properties and insights associated with FDI applications are gained. Based on these properties, a causality assignment procedure and modeling approximation techniques are developed to achieve a HBG with a causality that facilitates efficient and effective FDI design for hybrid systems.

Research paper thumbnail of Fault detection and isolation in a mobile robot test-bed

Recently, a Bond-graph based Fault Detection and Isolation (FDI) framework has been developed wit... more Recently, a Bond-graph based Fault Detection and Isolation (FDI) framework has been developed with a new concept of Global Analytical Redundancy Relations (GARRs). This new concept allows the fault diagnosis for hybrid systems which consist of both continuous dynamics and discrete modes. In this paper the newly developed method is studied in details using an electro-hydraulic steering system of a CyCab mobile robot. GARRs are derived systematically from a Hybrid Bond Graph (HBG) model with a specific causality assignment. FDI is applied, experimental setup is described, and results are discussed.

Research paper thumbnail of iDiagnosis & Prognosis - An intelligent platform for complex manufacturing

Manufacturing shop floor dynamics such as tool breakage or machine performance degradation or bre... more Manufacturing shop floor dynamics such as tool breakage or machine performance degradation or breakdown will disrupt the execution of planned production schedules. An intelligent shop floor is one that is able to react to changes that are occurring in a positive way. To give the early warning of the system/equipment health conditions and job execution capability to the supervisory control will improve the productivity and efficiency of the shop floor. This paper presents a new concept called iDiagnosis & Prognosis - an intelligent diagnosis, prognosis, manufacturing system condition and job execution capability assessment system based on the Internet, Web service and agent technologies. The paper introduces the basic concept of iDiagnosis & Prognosis. The proposed approach provides system functions, architecture and system components. The iDiagnosis & Prognosis dynamic model encompasses both information flow and event handling of the shop floor dynamics.

Research paper thumbnail of iDiagnosis & prognosis for supporting of manufacture

Manufacturing shop floor dynamics such as machine performance degradation or breakdown will affec... more Manufacturing shop floor dynamics such as machine performance degradation or breakdown will affect the execution of planned production schedules. An intelligent shop floor is able to react to changes in a positive way. To give the early warning of the system/equipment health conditions and mission execution capability to the supervisory control will improve the productivity and efficiency of the shop

Research paper thumbnail of Quantitative Hybrid Bond Graph-Based Fault Detection and Isolation

IEEE Transactions Automation Science and Engineering, 2010

ABSTRACT This research result consists of two parts: one is general theory on causality assignmen... more ABSTRACT This research result consists of two parts: one is general theory on causality assignment for hybrid bond graph (HBG) and another is application of this concept to the quantitative fault diagnosis. From Low et al., 2008, a foundation for quantitative bond graph-based fault detection and isolation (FDI) design using HBG is laid. Useful causality properties pertaining to the HBG from FDI perspectives, and the concept of diagnostic hybrid bond graph (DHBG) which is advantageous for efficient and effective FDI applications are proposed. This paper is a continuation of our previous paper (Low et al., 2008). Here, the DHBG is exploited to analyze the hybrid system's fault detectability and fault isolability. Additionally, a quantitative FDI framework for effective fault diagnosis for hybrid systems is proposed. Simulation and experimental results are presented to validate some key concepts of the quantitative hybrid bond graph-based FDI framework.