Research on Fault-Tolerant Controller for Mobile Robot Based on Artificial Immune Principle

Bo-bo, Yang; Fan, Shouwen; Shi, Mingquan

doi:10.1109/icnc.2007.622

Cited by 2 publications

(2 citation statements)

References 3 publications

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“…Genetic algorithms have been used for fault-tolerant control, though they have only been applicable recently [38]. AIS have been used to a limited extent in fault-tolerant control [39]. However, both have not seen widespread adoption.…”

Section: The Artificial Immune Systemmentioning

confidence: 99%

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Artificial Immune Systems: An Overview for Faulting Actuators

Kidd

2019

Actuators

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This paper reviews Artificial Immune Systems (AIS) that can be implemented to compensate for actuators that are in a faulted state or operating abnormally. Eventually, all actuators will fail or wear out, and these actuator faults must be managed if a system is to operate safely. The AIS are adaptive algorithms which are inherently well-suited to these situations by treating these faults as infections that must be combated. However, the computational intensity of these algorithms has caused them to have limited success in real-time situations. With the advent of distributed and cloud-based computing these algorithms have begun to be feasible for diagnosing faulted actuators and then generating compensating controllers in near-real-time. To encourage the application of AIS to these situations, this work presents research for the fundamental operating principles of AIS, their applications, and a brief case-study on their applicability to fault compensation by considering an overactuated rover with four independent drive wheels and independent front and rear steering.

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Section: The Artificial Immune Systemmentioning

confidence: 99%

“…This is primarily due to the computational complexity of the algorithms. For basic problems, such as in [38,39], the control schemes are simple, and the algorithms have shown good results. However, the algorithms generally only use offline computation.…”

Section: The Artificial Immune Systemmentioning

confidence: 99%