Tolerance towards sensor failures: an application to a double inverted pendulum
In this paper we present a sensor fault tolerance control scheme that is applied to a double inverted pendulum. Sensor faults will affect the system when it is used in closedloop feedback. The scheme uses a linear observer reconstruct the sensor fault and to subtract the reconstruction from the...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2006
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5362/ http://irep.iium.edu.my/5362/ http://irep.iium.edu.my/5362/ http://irep.iium.edu.my/5362/1/delta2006_mark.pdf |
| Summary: | In this paper we present a sensor fault tolerance control
scheme that is applied to a double inverted pendulum. Sensor
faults will affect the system when it is used in closedloop
feedback. The scheme uses a linear observer reconstruct
the sensor fault and to subtract the reconstruction
from the faulty sensor. The net result is then used for the
closed-loop feedback. It was found that the scheme restored
the performance to the fault-free scenario. |
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