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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.

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Title Multiple actuator fault tolerance for static nonlinear systems based on minimum velocity jump
Author(s) Abdi, Hamid
Nahavandi, Saeid
Najdovski, Zoran
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
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
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

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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