- Title
- A sensor fusion approach to the fault tolerant control of linear parameter varying systems
- Creator
- McCloy, Ryan J.; Seron, María M.; De Doná, José A.
- Relation
- 2015 Australasian Conference on Artificial Life and Computational Intelligence (ACALCI 2015). Proceedings of ACALCI 2015: Artificial Life and Computational Intelligence (Newcastle, Australia 05-07 February, 2015) p. 76-87
- Publisher Link
- http://dx.doi.org/10.1007/978-3-319-14803-8_6
- Publisher
- Springer International
- Resource Type
- conference paper
- Date
- 2015
- Description
- In this contribution we propose a fault tolerant control (FTC) scheme to compensate for sensor faults in multisensor fusion-based control of linear parameter varying systems. The scheme consists of a closedloop system with an estimator-based feedback tracking controller that combines healthy sensor-estimator pairings via a fusion algorithm. Faulty sensors are detected and discarded based on a set separation criterion, which considers both model uncertainty and system disturbances. We ensure the preservation of closed-loop system boundedness for a wide range of sensor fault situations and for the whole domain of plant model uncertainty. To illustrate the performance of the proposed FTC strategy, a flexible joint robotic arm example is presented.
- Subject
- invariant sets; sensor fusion; fault tolerant control; linear parameter varying systems; robotic applications
- Identifier
- http://hdl.handle.net/1959.13/1323057
- Identifier
- uon:24726
- Identifier
- ISBN:9783319148021
- Language
- eng
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