TY - GEN
T1 - A buy-time fault tolerant method in distributed multi-robot systems
AU - Yuan, Peijiang
AU - Wang, Tianmiao
AU - Tao, Yong
PY - 2012
Y1 - 2012
N2 - In this paper, a new buy-time fault tolerant method is proposed based on a bounding parameter estimation algorithm. The system parameters are confined within given bounds. The size of the bounds shrinks as more information becomes available. In this case, the reconfigurable control scheme can rely on the estimated parameter bounds to provide preliminary control to stabilize the system and slow down the deterioration of the system performance. Thus longer time can be gained for further identification and control reconfiguration to recover the system performance gradually. The experimental results based on a distributed multi-robot system prove that with this method, the safety critical system can buy some time before the final crash happens.
AB - In this paper, a new buy-time fault tolerant method is proposed based on a bounding parameter estimation algorithm. The system parameters are confined within given bounds. The size of the bounds shrinks as more information becomes available. In this case, the reconfigurable control scheme can rely on the estimated parameter bounds to provide preliminary control to stabilize the system and slow down the deterioration of the system performance. Thus longer time can be gained for further identification and control reconfiguration to recover the system performance gradually. The experimental results based on a distributed multi-robot system prove that with this method, the safety critical system can buy some time before the final crash happens.
KW - Distributed Telerobot Systems
KW - Fault Identification
KW - Fault Tolerant Control
KW - Parameter Estimation
KW - Real-Time
UR - https://www.scopus.com/pages/publications/84862327421
U2 - 10.1109/CSNT.2012.205
DO - 10.1109/CSNT.2012.205
M3 - 会议稿件
AN - SCOPUS:84862327421
SN - 9780769546926
T3 - Proceedings - International Conference on Communication Systems and Network Technologies, CSNT 2012
SP - 965
EP - 969
BT - Proceedings - International Conference on Communication Systems and Network Technologies, CSNT 2012
T2 - International Conference on Communication Systems and Network Technologies, CSNT 2012
Y2 - 11 May 2012 through 13 May 2012
ER -