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

Abdi, Hamid, Nahavandi, Saeid, Najdovski, Zoran and Frayman, Yakov 2011, Multiple actuator fault tolerance for static nonlinear systems based on minimum velocity jump, in IFAC 2011 : Proceedings of the 18th IFAC World Congress, International Federation of Automatic Control, [Milano, Italy], pp. 4690-4695, doi: 10.3182/20110828-6-IT-1002.02292.

Attached Files
Name Description MIMEType Size Downloads

Title Multiple actuator fault tolerance for static nonlinear systems based on minimum velocity jump
Author(s) Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Najdovski, ZoranORCID iD for Najdovski, Zoran orcid.org/0000-0002-8880-8287
Frayman, Yakov
Conference name International Federation of Automatic Control World Congress (18th : 2011 : Milano, Italy)
Conference location Milano, Italy
Conference dates 28 Aug.-02 Sep. 2011
Title of proceedings IFAC 2011 : Proceedings of the 18th IFAC World Congress
Editor(s) Bittanti, Sergio
Cenedese, Angelo
Zampieri, Sandro
Publication date 2011
Conference series International Federation of Automatic Control World Congress
Start page 4690
End page 4695
Total pages 6
Publisher International Federation of Automatic Control
Place of publication [Milano, Italy]
Keyword(s) fault-tolerant
nonlinear systems
fault identification and isolation
control of constrained systems
fault accommodation
Summary Static nonlinear systems are common when the model of the kinematics of mechanical or civil structures is analyzed for instance kinematics of robotic manipulators. This paper addresses the maximum effort toward fault tolerance for any number of the locked actuators failures in static nonlinear systems. It optimally reconfigures the inputs via a mapping that maximally accommodates the failures. The mapping maps the failures to an extra action of healthy actuators that results to a minimum jump for the velocity of the output variables. Then from this mapping, the minimum jump of the velocity of the output is calculated. The conditions for a zero velocity jump of the output variables are discussed. This shows that, when the conditions of fault tolerance are maintained, the proposed framework is capable of fault recovery not only at fault instances but also at the whole output trajectory. The proposed mapping is validated by three case studies.
ISBN 9783902661937
Language eng
DOI 10.3182/20110828-6-IT-1002.02292
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
Copyright notice ©2011, International Federation of Automatic Control (IFAC)
Persistent URL http://hdl.handle.net/10536/DRO/DU:30042229

Connect to link resolver
 
Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved.

Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 0 times in TR Web of Science
Scopus Citation Count Cited 4 times in Scopus
Google Scholar Search Google Scholar
Access Statistics: 816 Abstract Views, 26 File Downloads  -  Detailed Statistics
Created: Tue, 14 Feb 2012, 15:20:50 EST

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.