DocumentCode
2343819
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
Volume
3
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
2803
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249295
Filename
1249295
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