A Buy-Time Fault Tolerant Method in Distributed Multi-Robot Systems

摘要：

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.

关键词： Real-Time Fault Identification Fault Tolerant Control Parameter Estimation Distributed Telerobot Systems

作者: Peijiang Yuan Tianmiao Wang Yong Tao

作者单位: School of Mechanical Engineering and AutomationBeihang UniversityBeijing, 100191, China School of Mechanical Engineering and Automation Beihang University Beijing, 100191, China

会议类型: 国际会议

会议名称: 2011 International Conference on Information System and Computational Intelligence(2011 IEEE信息系统与计算智能国际会议 ICISCI 2011)

会议地点: 哈尔滨

会议语种:英文

页码: 102-106

在线出版日期: 2011-01-18（万方平台首次上网日期，不代表论文的发表时间）