Journal of Robotics, Networking and Artificial Life

Volume 7, Issue 3, December 2020, Pages 160 - 164

Self-repairing Control against Actuator Failures Using a Spiking Neuron Model

Authors
Masanori Takahashi*
Department of Electrical Engineering & Computer Science, Tokai University, 9-1-1 Toroku Kumamoto, 862-8652, Japan
Corresponding Author
Masanori Takahashi
Received 9 November 2019, Accepted 21 May 2020, Available Online 14 September 2020.
DOI
https://doi.org/10.2991/jrnal.k.200909.004How to use a DOI?
Keywords
Self-repairing control, actuator failure, fault detection, dynamic redundancy, spiking neuron model
Abstract

This paper presents a new Self-repairing Control System (SRCS) for plants with actuator failures. The proposed SRCS uses the well-known Izhikevich spiking neuron model as a fault detector. When the actuator fails, the neuron model is excited and then spikes occur. Thus, counting up spikes makes it possible to find failures. Compared with the existing active fault-tolerant control systems, the SRCS has the following advantages: one can not only set a maximum detection time in advance, but also construct a simple control system whose structure is independent of the mathematical model of the plant. To confirm the effectiveness of the SRCS, this paper shows theoretical performance analysis and numerical simulation.

Copyright
© 2020 The Authors. Published by Atlantis Press B.V.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

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Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
7 - 3
Pages
160 - 164
Publication Date
2020/09
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
https://doi.org/10.2991/jrnal.k.200909.004How to use a DOI?
Copyright
© 2020 The Authors. Published by Atlantis Press B.V.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - JOUR
AU  - Masanori Takahashi
PY  - 2020
DA  - 2020/09
TI  - Self-repairing Control against Actuator Failures Using a Spiking Neuron Model
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 160
EP  - 164
VL  - 7
IS  - 3
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.k.200909.004
DO  - https://doi.org/10.2991/jrnal.k.200909.004
ID  - Takahashi2020
ER  -