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Passive and active FTC comparison for polytopic LPV systems
dc.contributor.author | Rotondo, Damiano |
dc.contributor.author | Nejjari Akhi-Elarab, Fatiha |
dc.contributor.author | Puig Cayuela, Vicenç |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2013-10-17T09:59:05Z |
dc.date.created | 2013 |
dc.date.issued | 2013 |
dc.identifier.citation | Rotondo, D.; Nejjari, F.; Puig, V. Passive and active FTC comparison for polytopic LPV systems. A: European Control Conference. "ECC-European Control Conference". Zürich: 2013, p. 2951-2956. |
dc.identifier.uri | http://hdl.handle.net/2117/20394 |
dc.description.abstract | Fault-tolerant control (FTC) allows to preserve performance and stability despite the pres nce of faults. The literature considers two main groups of techniques: the passive and the active FTC techniques. In case of the passive techniques, the fault is taken into account as a system perturbation, so that the control law has fault capabilities that allow the system to cope with the fault presence. On the other hand, in the case of the active FTC techniques, the control law uses some information given by a Fault Detection and Isolation (FDI) module, so that through some automatic adjustment in the control loop, the fault is tolerated with minimum performance degradation. In this paper, a linear parameter-varying (LPV)/linear matrix inequalities (LMIs)-based technique is used to achieve fault tolerance and to compare benefits and drawbacks of passive and active FTC. The proposed approach is applied to a twowheel differential robot. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Fault tolerant systems |
dc.subject.lcsh | Autonomous robots |
dc.title | Passive and active FTC comparison for polytopic LPV systems |
dc.type | Conference report |
dc.subject.lemac | Robots autònoms |
dc.subject.lemac | Tolerància als errors (Informàtica) |
dc.contributor.group | Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control |
dc.contributor.group | Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
dc.description.peerreviewed | Peer Reviewed |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 12714770 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Rotondo, D.; Nejjari, F.; Puig, V. |
local.citation.contributor | European Control Conference |
local.citation.pubplace | Zürich |
local.citation.publicationName | ECC-European Control Conference |
local.citation.startingPage | 2951 |
local.citation.endingPage | 2956 |