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, Hamid orcid.org/0000-0001-6597-7136 Nahavandi, Saeid orcid.org/0000-0002-0360-5270 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 Document type: Conference Paper Collections: Institute for Intelligent Systems Research and Innovation (IISRI) GTP Research Related Links Link Description Connect to conference webpage Go to link with your DU access privileges   Connect to published version (restricted access) 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. Versions Version Filter Type Tue, 14 Feb 2012, 15:20:50 EST Wed, 14 Mar 2012, 08:58:34 EST Wed, 14 Mar 2012, 09:04:04 EST Thu, 29 Mar 2012, 14:21:18 EST Fri, 18 May 2012, 11:22:47 EST Fri, 18 May 2012, 11:56:55 EST Fri, 18 May 2012, 11:58:46 EST Mon, 21 May 2012, 08:50:42 EST Fri, 22 Aug 2014, 15:27:00 EST Fri, 17 Oct 2014, 11:17:44 EST Wed, 21 Oct 2015, 14:26:33 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 4 times in Scopus Search Google Scholar Access Statistics: 816 Abstract Views, 26 File Downloads  -  Detailed Statistics Created: Tue, 14 Feb 2012, 15:20:50 EST

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