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Optimal actuator fault tolerance for static nonlinear systems based on minimum output velocity jump

Abdi, Hamid and Nahavandi, Saeid 2010, Optimal actuator fault tolerance for static nonlinear systems based on minimum output velocity jump, in ICIA 2010 : Proceedings of the 2010 IEEE International Conference on Information and Automation, IEEE, Piscataway, N. J., pp. 1165-1170.

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Title Optimal actuator fault tolerance for static nonlinear systems based on minimum output velocity jump
Author(s) Abdi, Hamid
Nahavandi, Saeid
Conference name IEEE International Conference on Information and Automation (2010 : Harbin, China)
Conference location Harbin, China
Conference dates 20-23 Jun. 2010
Title of proceedings ICIA 2010 : Proceedings of the 2010 IEEE International Conference on Information and Automation
Editor(s) [Unknown]
Publication date 2010
Conference series International Conference on Information and Automation
Start page 1165
End page 1170
Publisher IEEE
Place of publication Piscataway, N. J.
Keyword(s) fault tolerant systems
optimal fault recovery
nonlinear systems
fault accommodation
Summary Fault tolerance for a class of non linear systems is addressed based on the velocity of their output variables. This paper presents a mapping to minimize the possible jump of the velocity of the output, due to the actuator failure. The failure of the actuator is assumed as actuator lock. The mapping is derived and it provides the proper input commands for the healthy actuators of the system to tolerate the effect of the faulty actuator on the output of the system. The introduced mapping works as an optimal input reconfiguration for fault recovery, which provides a minimum velocity jump suitable for static nonlinear systems. The proposed mapping is validated through different case studies and a complementary simulation. In the case studies and the simulation, the mapping provides the commands to compensate the effect of different faults within the joints of a robotic manipulator. The new commands and the compare between the velocity of the output variables for the health and faulty system are presented.
Notes ©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
ISBN 9781424457045
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
HERDC collection year 2010
Copyright notice ©2010, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031144

Document type: Conference Paper
Collections: Centre for Intelligent Systems Research
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Created: Fri, 12 Nov 2010, 14:11:50 EST by Sandra Dunoon