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Reconfiguration Using a Virtual Actuator
This chapter develops the concept of a virtual actuator. The idea of a virtual actuator is to use the input signal meant for the nominal process and...
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Literature Overview
This chapter introduces the main literature relevant for the field of reconfi-guration. During the last decade, different communities have dealt with...
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Linear Reconfiguration Problem
In this chapter, the general reconfiguration problem is specialised by applying it to linear systems. The advantage is that the problem can be broken...
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6 Shared Control
Based on the successful implementations of the lateral balancing and tiltup motion, in this chapter, we are going to develop a shared control...
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Structural Solutions to Disturbance Decoupling
This chapter develops a novel algorithm which solves the disturbance decoupling problem by repeatedly decoupling one output variable at a time. The...
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7 Conclusions
Gyrover is a novel concept for mobility that has distinct advantages over conventional, statically stable vehicles. The concept has been veri.ed with...
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Basic Structural Properties
It is possible to attribute properties to a system structure. These properties are called structural properties, and they hold for almost all systems...
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Conclusion
This chapter mentions the main results of the manuscript. The motivation was to find methods for autonomous control reconfiguration after faults....
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Reconfiguration of a Helicopter Model
A two-degrees-of-freedom helicopter experiment (see Fig. 17.1) is used as a more complex reconfiguration example. As demonstrated by Lunze et al....
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Reconfiguration of the 3-Tank System
The 3-Tank experiment is shown in Fig. 16.1. It consists of three tanks, which are connected via the valves u2, u3 and u4. Pumps can bring water into...
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Introduction to Control Reconfiguration
Controlled technological systems are used in many fields. They provide essential services such as the regulation of water pressure, the control of...
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General Reconfiguration Problem
In this chapter, a formal definition of the reconfiguration problem is developed. While the general idea of reconfiguration may appear obvious, there...
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Solvability of Disturbance Decoupling
The strong reconfiguration problem leads to a disturbance decoupling problem as stated in Sect. 10.4. There are known structural tests for the...
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Reconfiguration Using a Virtual Sensor
This chapter develops the concept of a virtual sensor: when a sensor is at fault, an observer is used to calculate a replacement value. This approach...
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Structural Models
The goal of structural modelling is to define all signal paths in a system.1 So for every possible signal path, the structural model has to determine...
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Direct Reconfiguration Using a Static Block
This chapter employs a static reconfiguration block in order to solve the direct reconfiguration problem. It is shown that this approach gives...
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Running Example: the 2-Tank System
A simple system will be used as a running example throughout the manuscript. It serves to illustrate typical faults and the resulting reconfiguration...
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2 Kinematics and Dynamics
Previously, Gyrover was controlled only manually, using two joysticks to control the drive and tilt motors through a radio link. A complete dynamic...
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4 Learning-based Control
Due to the complexity of the system, it is difficult for us to work out a “complete” analytical model of it. Therefore, in this chapter, we propose...
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1 Introduction
Land locomotion can be broadly characterized as quasi-static or dynamic. Quasi-static equilibrium implies that inertial (acceleration-related)...