| Title: | OS3-4 Self-repairing Adaptive PID Control for Plants with Sensor Failures |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 318-321 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS3-4 |
| Author(s): | Masanori Takahashi |
| Publication Date: | February 2, 2018 |
| Keywords: | PID control, Adaptive control, Fault-tolerant control, Sensor failure |
| Abstract: | This paper presents a new design method for a self-repairing adaptive PID control system. The control system has the adaptive adjusting mechanisms for the PID gains, and also can detect the sensor failure by self-test using the integrator in the PID controller. Hence, for plants with unknown parameters, self-repairing control can be successfully attained. Furthermore, in this paper, the control performances are theoretically analyzed. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS3/OS3-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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