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, doi: 10.1109/ICINFA.2010.5512308. Attached Files Name Description MIMEType Size Downloads abdi-optimalactuator-2010.pdf Published version application/pdf 110.75KB 176 Title Optimal actuator fault tolerance for static nonlinear systems based on minimum output velocity jump Author(s) Abdi, Hamid orcid.org/0000-0001-6597-7136 Nahavandi, Saeid orcid.org/0000-0002-0360-5270 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 Total pages 6 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 DOI 10.1109/ICINFA.2010.5512308 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 Free to Read? Yes Persistent URL http://hdl.handle.net/10536/DRO/DU:30031144 Document type: Conference Paper Collections: Institute for Intelligent Systems Research and Innovation (IISRI) Open Access Collection GTP Research Related Links Link Description Connect to published version Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au. Versions Version Filter Type Fri, 12 Nov 2010, 14:12:02 EST Fri, 12 Nov 2010, 14:13:52 EST Thu, 18 Nov 2010, 07:33:18 EST Thu, 18 Nov 2010, 11:29:54 EST Thu, 18 Nov 2010, 11:32:31 EST Thu, 18 Nov 2010, 11:33:33 EST Fri, 19 Nov 2010, 08:11:19 EST Fri, 16 Mar 2012, 18:20:47 EST Fri, 22 Aug 2014, 14:14:06 EST Tue, 06 Sep 2016, 16:02:52 EST Tue, 05 Dec 2017, 10:44:26 EST Fri, 07 Sep 2018, 15:07:43 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 9 times in Scopus Search Google Scholar Access Statistics: 960 Abstract Views, 179 File Downloads  -  Detailed Statistics Created: Fri, 12 Nov 2010, 14:11:50 EST by Sandra Dunoon

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.