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- W2056978857 abstract "This article presents a robust sensor fault-tolerant control (FTC) scheme and its implementation on a flexible arm robot. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this article, the non-faulty sensors are used to reconstruct the faults on the potentially faulty sensors. The reconstruction is subtracted from the faulty sensors to generate a 'virtual sensor' which (instead of the normally used faulty sensor output) is then used to generate the control input. A design method is also presented in which the virtual sensor is made insensitive to any system uncertainties (which could corrupt the fault reconstruction) that cannot fit into the framework of the model used. Two fault conditions are tested: total failure and incipient faults. Then the scheme robustness is tested and evaluated through its implementation on two flexible arm systems, one with a flexible joint and the other with a flexible link. Excellent re..." @default.
- W2056978857 created "2016-06-24" @default.
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- W2056978857 date "2007-01-01" @default.
- W2056978857 modified "2023-10-16" @default.
- W2056978857 title "The development of a fault-tolerant control approach and its implementation on a flexible arm robot" @default.
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- W2056978857 doi "https://doi.org/10.1163/156855307780851984" @default.
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