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Experimental Fault Tolerant Control of a Ball-on-Plate System

Abstract : This paper deals with the experimental results of implementing a fault tolerant control (FTC) in a classical ball-on-plate control framework. The work builds on the fact that a robust nominal controller is found to be insufficient in accommodating a sensor fault generated by the presence of a second ball. Invariant sets are used to monitor and detect occurrence of faults in the system and a switching control strategy is implemented for accommodating the faults. With the proposed FTC implemented, experimental results confirm the fault tolerance guarantees.
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Submitted on : Monday, November 4, 2019 - 4:46:07 PM
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Abid Rahman Kodakkadan, Sorin Olaru, Vasiliki Reppa. Experimental Fault Tolerant Control of a Ball-on-Plate System. 21st International Conference on System Theory, Control and Computing (ICSTCC), Oct 2017, Sinaia, Romania. ⟨10.1109/icstcc.2017.8107097⟩. ⟨hal-02345882⟩



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