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(2015) Artificial life and computational intelligence, Dordrecht, Springer.
A sensor fusion approach to the fault tolerant control of linear parameter varying systems
Ryan J. McCloy , María M. Seron , José A. De Doná
pp. 76-87
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 closed-loop 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.
Publication details
DOI: 10.1007/978-3-319-14803-8_6
Full citation:
McCloy, R. J. , Seron, M. M. , De Doná, J. A. (2015)., A sensor fusion approach to the fault tolerant control of linear parameter varying systems, in M. Randall (ed.), Artificial life and computational intelligence, Dordrecht, Springer, pp. 76-87.
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