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.
(Some files may be inaccessible until you login with your Deakin Research Online credentials)
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.
Unless expressly stated otherwise, the copyright for items in Deakin Research Online 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 email@example.com.