A buy-time fault tolerant method in distributed multi-robot real-time control systems

被引：0
|
作者：
Yuan, P. [1 ]
机构：
[1] Chinese Acad Sci, Inst Software, Beijing 100080, Peoples R China
来源：
WMSCI 2006: 10TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL VII, PROCEEDINGS | 2006年
关键词：
real-time; fault identification; fault tolerant control; parameter estimation; distributed telerobot;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
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 he gained for further identification and control reconfiguration to recover the system performance gradually. The simulation result shows that with this method, the safety critical system can buy some time before the final crash happens.
引用
收藏
页码：524 / 529
页数：6
相关论文
共 50 条
  • [21] Module replication for fault-tolerant real-time distributed systems
    Technical Univ of Crete, Crete, Greece
    IEEE Trans Reliab, 1 (8-18):
  • [22] Simulation of distributed fault tolerant heterogeneous architectures for real-time control
    Benitez-Perez, H
    Thompson, HA
    Fleming, PJ
    ALGORITHMS AND ARCHITECTURES FOR REAL-TIME CONTROL 1998 (AARTC'98), 1998, : 71 - 76
  • [23] Distributed finite-time coordinated control for multi-robot systems
    Sun, Yanchao
    Ma, Guangfu
    Liu, Mengmeng
    Li, Chuanjiang
    Liang, Junbo
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2018, 40 (09) : 2912 - 2927
  • [24] Real-Time Distributed Multi-Robot Target Tracking via Virtual Pheromones
    Mathew, Joseph Prince
    Nowzari, Cameron
    2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2022, : 5833 - 5839
  • [25] Real time fault tolerant control of robot manipulators
    Noore, A
    MATHEMATICAL AND COMPUTER MODELLING, 2003, 38 (1-2) : 13 - 22
  • [26] Real-time and fault-tolerant systems
    Liu, Zhiming
    Joseph, Mathai
    REFINEMENT TECHNIQUES IN SOFTWARE ENGINEERING, 2006, 3167 : 156 - 219
  • [27] Fault-tolerant static scheduling for real-time distributed embedded systems
    Girault, A
    Lavarenne, C
    Sighireanu, M
    Sorel, Y
    21ST INTERNATIONAL CONFERENCE ON DISTRIBUTED COMPUTING SYSTEMS, PROCEEDINGS, 2001, : 695 - 698
  • [28] Real-time fault diagnosis and optimal fault-tolerant control for systems with control time-delay
    Li, Juan
    Ye, Ruo-Hong
    Tang, Gong-You
    Kongzhi yu Juece/Control and Decision, 2008, 23 (04): : 439 - 444
  • [29] Designing a fault-tolerant architecture for real-time distributed control system
    Muda, WMW
    Shakaff, AYM
    2002 STUDENT CONFERENCE ON RESEARCH AND DEVELOPMENT, PROCEEDINGS: GLOBALIZING RESEARCH AND DEVELOPMENT IN ELECTRICAL AND ELECTRONICS ENGINEERING, 2002, : 23 - 26
  • [30] Fault-Tolerant Architecture for Real-Time Control of Distributed Medical Devices
    Reis, Tiago
    Correia, Alexandre
    Sousa, Paulo
    Cecilio, Jose
    16TH IEEE INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2020), 2020, : 1177 - 1181
12345