Fault-tolerant Control of Robot Manipulators with Sensory Faults using Unbiased Active Inference

04/05/2021
by   Mohamed Baioumy, et al.
0

This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of probabilistically robust thresholds for fault-tolerant control of robotic systems using the free-energy. The proposed solution makes use of the sensory prediction errors in the free-energy for the generation of residuals and thresholds for fault detection and isolation of sensory faults, and it does not require additional controllers for fault recovery. Results validating the benefits in a simulated 2-DOF manipulator are presented, and future directions to improve the current fault recovery approach are discussed.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
09/13/2021

Towards Stochastic Fault-tolerant Control using Precision Learning and Active Inference

This work presents a fault-tolerant control scheme for sensory faults in...
research
04/17/2022

Beta Residuals: Improving Fault-Tolerant Control for Sensory Faults via Bayesian Inference and Precision Learning

Model-based fault-tolerant control (FTC) often consists of two distinct ...
research
11/30/2018

Redundancy-Free UAV Sensor Fault Isolation And Recovery

The sensory system of unmanned aerial vehicles (UAVs) plays an important...
research
08/19/2021

Quad-cone-rotor: A Novel Tilt Quadrotor with Severe-fault-tolerant Ability

Conventional quadrotors received great attention in trajectory design an...
research
06/06/2018

Fault Tolerant Control for Networked Mobile Robots

Teams of networked autonomous agents have been used in a number of appli...
research
05/18/2021

Reconfiguring Hybrid Systems Using SAT

Reconfiguration aims at recovering a system from a fault by automaticall...
research
11/09/2020

Toward Fault-Tolerant Deadlock-Free Routing in HyperSurface-Embedded Controller Networks

HyperSurfaces (HSFs) consist of structurally reconfigurable metasurfaces...

Please sign up or login with your details

Forgot password? Click here to reset