Search
Search Results
-
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...
-
Literature Overview
This chapter introduces the main literature relevant for the field of reconfi-guration. During the last decade, different communities have dealt with...
-
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...
-
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...
-
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...
-
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...
-
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...
-
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...
-
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...
-
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...
-
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....
-
Conclusion
This chapter mentions the main results of the manuscript. The motivation was to find methods for autonomous control reconfiguration after faults....
-
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...
-
1 Introduction
Land locomotion can be broadly characterized as quasi-static or dynamic. Quasi-static equilibrium implies that inertial (acceleration-related)...
-
5 Further Topics on Learning-based Control
Modeling human control strategy (HCS) refers to a model of a human expert’s control action in response to system real-time feedback. That is, we aim...
-
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...
-
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...
-
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...
-
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...
-
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...