Prompted by the increasing demands in system reliability and availability, fault diagnosis and accommodation has quickly become one of the most active research areas in the intelligent control community. Yet, the onli...
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Prompted by the increasing demands in system reliability and availability, fault diagnosis and accommodation has quickly become one of the most active research areas in the intelligent control community. Yet, the online fault accommodation controls for the system under catastrophic failures that result in drastic changes and/or changing of dynamic structure are still unsolved. In this work, a sufficient condition for system online stability with changes of dynamic structure under catastrophic failures has been derived based upon discrete-time Lyapunov stability theory. The theoretical analysis indicates that the online control problem can be solved without complete realization of the system dynamics given satisfaction of specific assumptions. An online fault accommodation control framework is proposed to deal with the desired trajectory-tracking problem for systems suffering from various abrupt and unanticipated catastrophic failures. Once a fault is detected, an artificial neural network is suggested as the online estimator to approximate the most recent behaviour of the unknown system failure dynamics. Effective control signals to accommodate the dynamic failures are then computed through the realization of the estimator for the unknown failures based only upon the partially available information of the faults. Extensive simulation studies have been completed to validate the proposed online control architecture under various multiple failures, noisy environments, and false alarm scenarios. The simulations show encouraging results and demonstrate the effectiveness of the proposed control methodology for unanticipated and unknown time-varying failures in online situations based solely upon insufficient information about the system dynamics.
In, this, paper, we, propose, a, special, geometric, feature, parameter, supplement, schema, for, IBVS, systems, in, which, the, servoing, is, based, on, the, point, to, point, correspondences., The, proposed, algorit...
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This paper illustrates three agent technologies deployed in the Unmanned Aerial Vehicle (UAV) target tracking domain. These capabilities enable: (1) coordination of the tracking of multiple targets among a set of UAVs...
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In previous works about the Robot-World and Hand- Eye Calibration problem there is not much discussion about the accuracy that the transformation from the camera frame to calibration plate frame is obtained, which is ...
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ISBN:
(纸本)9781629934693
In previous works about the Robot-World and Hand- Eye Calibration problem there is not much discussion about the accuracy that the transformation from the camera frame to calibration plate frame is obtained, which is needed for the solution of the homogenous equation AX=ZB. The transformation matrix A is found by calibrating the camera at each robot position and extracting the external parameters. In this paper a different approach is used, and the matrix A is calculated purely by measurements, which are obtained after the camera has been calibrated.
Autonomous agents are given the authority to select which actions they will execute. If the agent behaves rationally, the actions it selects will be in its own best interests. When addressing multiple goals, the ratio...
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As agent systems become more sophisticated, there is a growing need for agent-oriented debugging, maintenance, and testing methods and tools. This paper presents the Tracing Method and accompanying Tracer tool to help...
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The Self-Organizing Map (SOM) is an efficient tool for visualizing high-dimensional data as it performs a topology-preserving projection of the input space on a low-dimensional grid. To utilize the information provide...
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Fault classification based upon vibration data is an essential building block of a sophisticated conditional based monitoring (CBM) system. Multiple sensor channels are called for to assure the redundancy and to achie...
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This paper presents the gait pattern generation work performed for the sixlegged robot EA308 developed in our laboratory. The aim is to achieve a dynamically developing gait pattern generation structure using reinforc...
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