Abstract
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.
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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: Chalup, S.K., Blair, A.D., Randall, M. (eds) Artificial Life and Computational Intelligence. ACALCI 2015. Lecture Notes in Computer Science(), vol 8955. Springer, Cham. https://doi.org/10.1007/978-3-319-14803-8_6
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DOI: https://doi.org/10.1007/978-3-319-14803-8_6
Publisher Name: Springer, Cham
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