This paper presents a gait analysis of the equilateral hexagonal model of hexapod robot. Mathematical analysis has been made on mobility, fault-tolerance, and stability. A comparison with the rectangular model of hexapod robot is also given, and it has shown that the hexagonal model shows better turning ability, a higher margin of stability during the fault-tolerant gait, and greater stride len...

This paper presents the design of an additive fault tolerant control for nonlinear time-invariant singularly perturbed systems against actuator faults based on Lyapunov redesign principle. The overall system is reduced into subsystems with fast and slow dynamic behavior using singular perturbation method. The time scale reduction is carried out when the singular perturbation parameter is set to...

This paper discusses the maneuvering control algorithm based on all-wheel independent driving and steering control techniques for special purpose 6WD/WS vehicles. The maneuvering control algorithms considering superior dynamic characteristics of high power in-wheel motors and independent steering system are designed to perform driving and steering control, vehicle stability control, and fault t...

This paper discusses the maneuvering control algorithm based on all-wheel independent driving and steering control techniques for special purpose 6WD/WS vehicles. The maneuvering control algorithms considering superior dynamic characteristics of high power in-wheel motors and independent steering system are designed to perform driving and steering control, vehicle stability control, and fault t...

This paper is concerned with the research on fault tolerant control (FTC) of networked control system (NCS) with fixed data packet loss rate (PLR). A synthetic model of the whole closed-loop is presented which includes time delay, packet loss of NCS and the working condition of sensors and actuators. The time delay is supposed to be shorter than sampling period and packet loss to be random but ...

This paper presented a novel decentralized fault tolerant control strategy for the control of linear multivariable processes. The multiple model based fault tolerant method is used to improve system performance (under model uncertainty and slow variation) and implement active fault tolerant control. In the mean time, we extended the decentralized unconditional stable control to multiple model c...

Abstract: This paper presents a general framework for model-based fault detection and accommodation for a class of distributed parameter systems with control actuator faults. A set of dedicated observers, each with its own time-varying threshold is constructed to detect the occurrence of fault in the corresponding actuator and reduce fault detection time. Additionally, an adaptive diagnostic ob...

In this paper, authors present a comparative study of inductive and resistive superconducting fault current limiters (SFCL) from current limitation and power system transient stability point of view. Different types of SFCL can be used to decrease the amplitude of fault current in a power system. The two most used are resistive type (rSFCL) and inductive type (iSFCL). However, no studies have b...

This paper presents an analysis of the stability of an electric vehicle equipped with in-wheel motors of permanent-magnet type during a class of electrical faults. Due to the constant excitation from the permanent magnets, the output torque from a faulted wheel cannot easily be removed if an inverter shuts down, which directly affects the vehicle stability. In this paper, the impact of an elect...