Using learning techniques to accommodate unanticipated faults
- 1 June 1993
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems
- Vol. 13 (3) , 40-49
- https://doi.org/10.1109/37.214943
Abstract
Procedures exist to rapidly accommodate certain types of faults, based on a priori specification of the postfault dynamics. A methodology is presented for accommodating the remaining unanticipated faults. For these two approaches, a tradeoff exists between the time to attain a solution to the reconfiguration problem and the generality of the approach. Unanticipated faults are represented as unmodeled forces and torques. Models of these forces and torques are developed online using a hybrid estimation/learning approach. The hybrid system is designed for fast estimation during the initial transient when a fault occurs, with continually improving performance as postfault information is accumulated by the learning system. Fault accommodation is achieved by a feedforward/feedback control architecture that employs an actuator distribution system to convert desired forces into individual actuator commands. This approach is demonstrated on a simulated autonomous vehicle, where the addition of a hybrid estimation/learning capability is shown to increase performance greatly over time.< >Keywords
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