• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1154-1158
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• 2011

In this paper, we discuss an observer-based fault tolerant controller design for the T-S (Takagi-Sugeno) fuzzy system with exogenous disturbance. To derive robust controller design conditions, we use $H_{\infty}$ design technique. The design conditions are derived in terms of linear matrix inequalities. An illustrative example is provided to show the effectiveness of the proposed methodology.

• Proceedings of the KIEE Conference
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• 1992.07b
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• pp.1199-1202
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• 1992

This paper describes a fault-tolerant control system for high I performance induction motor drive. A new fault-tolerant scheme using three processor-based controllers is presented. The proposed scheme guarantees the high reliability and provides the flexibility of controllers utilization. Through the comparison of estimated reliability, it is verified that the proposed scheme gives higher reliability than TMR to the control system for induction motor drive.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.407-412
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• 2012

In this paper, we discuss an observer-based fault tolerant controller design for the unmanned aerial vehicle (UAV) systems with exogenous disturbance. To derive robust controller design conditions, we use $H_{\infty}$ design technique. The design conditions are derived in terms of linear matrix inequalities. An illustrative example is provided to show the effectiveness of the proposed methodology.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.6
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• pp.762-770
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• 2015

Fault tolerance is a crucial design for a mission-critical computer such as engagement control computer that has to maintain its operation for long mission time. In recent years, software fault-tolerant design is becoming important in terms of cost-effectiveness and high-efficiency. In this paper, we propose MPCMCC which is a model-based software component to implement fault tolerance in mission-critical computers. MPCMCC is a fault tolerance design that synchronizes shared data between two computers by using the one-way message-passing scheme which is easy to use and more stable than the shared memory scheme. In addition, MPCMCC can be easily reused for future work by employing the model based development methodology. We verified the functions of the software component and analyzed its performance in the simulation environment by using two mission-critical computers. The results show that MPCMCC is a suitable software component for fault tolerance in mission-critical computers.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.3
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• pp.173-181
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• 2004

In normal robot control systems without any actuator failures, it is assumed that actuator torque coefficients applied at each joint have normally 1's all the time. However, it is more practical that actuator torque coefficients applied at each joint are nonlinear time-varying. In other words, it has to be considered that actuators equipped at joints may fail due to hardware or software faults. In this work, actuator torque coefficients are assumed to have non-zero values at all joints. In the case of an actuator torque coefficient which has a zero value at a joint, it means the complete loss of torque on the joint. This paper doesn't deal with the case. As factors of performance degradation of robots, both actuator failures and uncertainties are considered in this paper at the same time. This paper proposes a robust adaptive fault-tolerant control scheme to maintain the required performance and achieve task completion for robot manipulators with performance degradation due to actuator failures and uncertainties. Simulation results are shown to verify the fault tolerance and robustness of the Proposed control scheme.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.5
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• pp.718-725
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• 2015

This paper proposes a novel level-shifted PWM (LS-PWM) strategy for fault tolerant cascaded multilevel inverter. Most proposed fault-tolerant operation methods in many of studies are based on a phase-shifted PWM (PS-PWM) method. To apply these methods to multilevel inverter systems using LS-PWM, two additional steps will be implemented. During the occurrence of a single-inverter-cell fault, the carrier bands scheme is reconfigured and modulation levels of inverter cells are reassigned in this proposed fault-tolerant operation. The proposed strategy performs balanced three-phase line-to-line voltages and line currents when a switching device fault occurs in a cascaded multilevel inverter using LS-PWM. Simulation and experimental results are included in the paper to verify the proposed method.

• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.295-295
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• 2008

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.967-982
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• 2011

This paper presents a FTNCS (Fault-Tolerant Networked Control System) that can tolerate control surface failure and packet delay/loss in an UAV (Unmanned Aerial Vehicle). The proposed method utilizes the benefits of self-diagnosis by smart actuators along with the control allocation technique. A smart actuator is an intelligent actuation system combined with microprocessors to perform self-diagnosis and bi-directional communications. In the event of failure, the smart actuator provides the system supervisor with a set of actuator condition data. The system supervisor then compensate for the effect of faulty actuators by re-allocating redundant control surfaces based on the provided actuator condition data. In addition to the compensation of faulty actuators, the proposed FTNCS also includes an efficient algorithm to deal with network induced delay/packet loss. The proposed algorithm is based on a Lagrange polynomial interpolation method without any mathematical model of the system. Computer simulations with an UAV show that the proposed FTNCS can achieve a fast and accurate tracking performance even in the presence of actuator faults and network induced delays.

• Journal of Electrical Engineering and Technology
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• v.11 no.5
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• pp.1423-1432
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• 2016

• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.296-305
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• 2008

Whereas fault diagnosis has been the subject of intensive research since the 1970s, the design of fault tolerant systems is a recent research field which does not set its foundations in a unified framework and does not use a unified vocabulary. As a contribution to this special issue, this paper proposes an ontology for the problem of Fault Handling, that embeds the problem of Fault Tolerance.