Experimental fault tolerant control of a ball-on-plate system

Conference paper (2017)

Authors

Abid Rahman Kodakkadan CNRS

Sorin Olaru CNRS

V. Reppa University of Cyprus, KIOS Center of Excellence

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Published Date

2017

Language

English

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Abstract

This paper deals with the experimental results of implementing a fault tolerant control (FTC) in a classical ball-on-plate control framework. The work builds on the fact that a robust nominal controller is found to be insufficient in accommodating a sensor fault generated by the presence of a second ball. Invariant sets are used to monitor and detect occurrence of faults in the system and a switching control strategy is implemented for accommodating the faults. With the proposed FTC implemented, experimental results confirm the fault tolerance guarantees.