Titre du document / Document title

Real-time expert system for fault-tolerant supervisory control

Auteur(s) / Author(s)

RAMAMURTHI K. ⁽¹⁾ ; AGOGINO A. M. ;

Affiliation(s) du ou des auteurs / Author(s) Affiliation(s)

⁽¹⁾ Texas Instruments, Inc., semiconductor process design cent., process design control, Dallas TX 75265, ETATS-UNIS

Résumé / Abstract

Many mechanical systems are sufficiently complex that it is impractical to describe their dynamics by exact mathematical models. In the presence of such modeling uncertainties, advanced controllers like adaptive controllers perform better than linear feedback controllers since they actively reduce the uncertainly by online parameter estimation. Unfortunately, the advanced control strategies, due to their lack of robustness, can become unstable in the presence of unpredictable external disturbances, and hence, there exists a need for a fault-toterant approach to preserve the overall system integrity even at the cost of design performance. This motivated the research, presented in this paper, to investigate the suitability of the IDES (Influence Diagram Based Expert System) as an expert supervisory controller to predict incipient instability, a significant failure mode, and take corrective action in real-time when closed loop stability appears to in danger. The expert supervisory control scheme is demonstrated on a model-referenced adaptive controller as applied to a robotic manipulator

Revue / Journal Title

Journal of dynamic systems, measurement, and control   ISSN 0022-0434   CODEN JDSMAA 

Source / Source

1993, vol. 115, n^o2A, pp. 219-227 (39 ref.)

Langue / Language

Anglais

Editeur / Publisher

American Society of Mechanical Engineers, New York, NY, ETATS-UNIS  (1971) (Revue)

Mots-clés anglais / English Keywords

Supervision ; Fault tolerance ; Expert system ; Real time ; Stability ; Adaptive control ; Reference model ; Robotics ; Manipulator ; Learning ; Simulation ; Influence diagram ;

Mots-clés français / French Keywords

Supervision ; Tolérance faute ; Système expert ; Temps réel ; Stabilité ; Commande adaptative ; Modèle référence ; Robotique ; Manipulateur ; Apprentissage ; Simulation ; Nonrobust control ; Diagramme influence ;

Mots-clés espagnols / Spanish Keywords

Supervisión ; Tolerancia falta ; Sistema experto ; Tiempo real ; Estabilidad ; Control adaptativo ; Modelo referencia ; Robótica ; Manipulador ; Aprendizaje ; Simulación ;

Localisation / Location

INIST-CNRS, Cote INIST : 6120 G, 35400003428654.0010