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Optimal actuator fault tolerance for static nonlinear systems based on minimum output velocity jump
conference contribution
posted on 2010-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Saeid NahavandiFault 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.
History
Event
IEEE International Conference on Information and Automation (2010 : Harbin, China)Pagination
1165 - 1170Publisher
IEEELocation
Harbin, ChinaPlace of publication
Piscataway, N. J.Publisher DOI
Start date
2010-06-20End date
2010-06-23ISBN-13
9781424457045Language
engNotes
©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.Publication classification
E1 Full written paper - refereedCopyright notice
2010, IEEETitle of proceedings
ICIA 2010 : Proceedings of the 2010 IEEE International Conference on Information and AutomationUsage metrics
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