Design of fault tolerant control scheme for a class of non-linear collaborative systems

Abstract

A new active fault-tolerant control method is presented for a non-linear collaborative system which contains two subsystems. The scheme is to make the fault-free subsystem compensate the fault influence of the faulty subsystem on the whole system. When one faulty subsystem could not repair its own fault influence on the whole system or it will take a long time for the fault to be repaired, the controller of the fault-free subsystem is reconfigured using the fault diagnosis information, leading to the fault tolerant control of the whole non-linear collaborative system. Simulation results of the fault tolerant control for a robot collaborative system show the effectiveness of the proposed scheme.