Title :
Design of supervisory control scheme for fault tolerant control of telerobotic system in operational space
Author :
Kim, Sewoong ; Hamel, William R.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tennessee Univ., Knoxville, TN, USA
Abstract :
This paper addresses the issues of developing fault tolerant control system for telerobotic systems in operational space. First, the characteristics of operational faults and the relevant sensor signals are studied and classified. Secondly, the framework for FDI and the associated supervisory control scheme are proposed to effectively integrate the FDI approaches into telerobotic systems.
Keywords :
control system synthesis; fault tolerance; sensors; telerobotics; FDI; fault tolerant control; operational faults; operational space; sensor signals; supervisory control; telerobotic system; Control systems; Fault detection; Fault tolerant systems; Hardware; Orbital robotics; Robotics and automation; Space technology; Supervisory control; Telerobotics; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249295
