Abstract
In this paper, a fault-tolerant control method is presented with an application to steer-by-wire (SBW) system. SBW is a network-based vehicle steering system in which the mechanical linkage and hydraulics are replaced by electrical motors and fieldbus networks. Since failure of a steering system may result in a catastrophic accident, SBW can be considered as a safety-critical embedded system for which very high level of dependability must be satisfied. This paper proposes an effective control strategy to tolerate faulty actuators. The proposed method has a simple structure to be implemented on low cost embedded processors. The reconfiguration strategy consists of two fold: i) a smart actuator of which embedded microprocessor provides the fast and accurate diagnostic information through a time-triggered fieldbus, and ii) an IMC-PID controller which is capable of tolerating the effect of faults based on the diagnostic information being sent from the smart actuator. Simulation results with a SBW model show that the proposed method can enhance the system dependability in the presence of faults without using any redundant actuators.
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Yang, I., Kim, D., Kang, K., Lee, D., Yoon, K. (2007). Smart Actuator-Based Fault-Tolerant Control for Networked Safety-Critical Embedded Systems. In: Lee, YH., Kim, HN., Kim, J., Park, Y., Yang, L.T., Kim, S.W. (eds) Embedded Software and Systems. ICESS 2007. Lecture Notes in Computer Science, vol 4523. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72685-2_57
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DOI: https://doi.org/10.1007/978-3-540-72685-2_57
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