Designing Fault-Tolerant Autonomous Systems with Adaptive Supervisory Control

This paper presents a new approach for designing fault-tolerant systems using adaptive supervisory control. By this approach, firstly, a systemic study of the probable failures is conducted. Secondly, for every probable failure, the corrective measures (supervisory controllers) are synthesized. Thirdly, when the system is running, an adaptive controlled system is proposed where the supervisor chooses the most appropriate controller if any system failures happen. The approach proposes use of Petri net based supervisory controllers. A case study is also presented that shows how the proposed approach can be used to design adaptive supervisory control using the tool GPenSIM, the case study is about a fault-tolerant car washing facility.