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.190828.007
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/).