Authors
Masanori Takahashi
Department of Electrical Engineering and Computer Science, Tokai University, 9-1-1 Toroku, Higashi-ku, Kumamoto 862-865, Japan
Email: [email protected]
Corresponding Author
Masanori Takahashi
Received 10 November 2018, Accepted 20 November 2018, Available Online 11 September 2019.
DOI
https://doi.org/10.2991/jrnal.k.190828.007How to use a DOI?
Keywords
Self-repairing control; sensor failure; fault detection; dynamic redundancy; spiking neuron model
Abstract
In the previous works, several types of the Self-Repairing Control Systems (SRCS) have been developed against unknown sensor failures. The SRCS can automatically detect failures, and replace failed sensors with healthy backups so as to maintain the system stability. This paper presents a new SRCS, whose detection filter is constructed based on the spiking neuron model proposed by Izhikevich. Just counting up the number of spikes in the filtered signal makes it possible to find the sensor failure promptly. Also, in this paper, the robustness with respect to disturbances is theoretically analyzed, and it is shown that SRC can be accomplished in the presence of unknown disturbances.
Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd.
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/).