There are many applications for which reliable and safe robots are desired. For example, assistant robots for disabled or elderly people and surgical robots are required to be safe and reliable to prevent human injury and task failure. However, different levels of safety and reliability are required for different tasks so that understanding the reliability of robots is paramount. Currently, it ...

• Fault tolerant system System which is redundant to faults so that output is not affected • Why do we need fault tolerant systems? Vast increase in role of embedded systems in day to day applications, critical systems • How to verify the fault tolernace of embedded systems?

This paper presents the integrated fault-tolerant control scheme for nonlinear system with multi-fault. After the unknown faults are estimated online by using the fuzzy credit assignment CMAC (FCACMAC), the effective control law reconfiguration strategy based on the sliding mode control technique is used to compensate for the effect of multifault. For multiple faults scenarios and three-tank sy...

This paper describes a new design for a fault tolerant Hbridge dc-dc converter. Open circuit and short circuit fault tolerance is achieved using multilevel converter topology in combination with pulse width modulation control strategy allowing a large set of converter switching states to produce bidirectional power flows at any required output voltage. If two switches fail at particular instant...

Fault tolerant control for uncertain systems with time varying state-delay is studied in this paper. Based on sliding mode controller design, a fault tolerant control method is proposed. By means of the feasibility of some linear matrix inequalities (LMIs), delay dependent sufficient condition is derived for the existence of a linear sliding surface which guarantees quadratic stability of the r...

This paper addresses the problems of robust fault estimation and fault-tolerant control for Takagi–Sugeno (T–S) fuzzy systems with time delays and unknown sensor faults. A fuzzy augmented state and fault observer is designed to achieve the system state and sensor fault estimates simultaneously. Furthermore, based on the information of on-line fault estimates, an observer-based dynamic output fe...

This paper addresses the problem of robust fault estimation and fault tolerant control of a continuous age structured model of a harvested fishery system. The harvested fish population is represented by TakagiSugeno fuzzy systems, where the effort is used as a control term, the age classes as a states and the quantity of captured fish per unit of effort as a measured output. Under some biologic...

Analyzing and evaluating the sensitivity of embedded systems to soft-errors have always been a challenge for aerospace or safety equipment designer. Different automated fault-injection methods have been developed for evaluating the sensitivity of integrated circuit. Also many techniques have been developed to get a fault tolerant architecture in order to mask and mitigate fault injection in a c...

This paper deals with the reliability of software executed iteratively, as e.g. in process control applications. The probability of mission survival is evaluated taking account of two characteristics of iterative software: a) system failure is defined in terms of the behaviour of the software over successive iterations, because the controlled system can usually tolerate short bursts of errors; ...

A fuzzy fault-tolerant control scheme is proposed for a class of multiple input fuzzy bilinear systems with unmeasurable states. First, a fuzzy detective observer is designed to detect the fault. Based on the developed detective observer, a fuzzy controller is proposed to guarantee the closed-loop system without faults is asymptotically stable. Then, a fuzzy adaptive diagnostic observer is desi...