Beta Residuals: Improving Fault-Tolerant Control for Sensory Faults via Bayesian Inference and Precision Learning [article]

Mohamed Baioumy, William Hartemink, Riccardo M.G. Ferrari, Nick Hawes
2022 arXiv   pre-print
Model-based fault-tolerant control (FTC) often consists of two distinct steps: fault detection & isolation (FDI), and fault accommodation. In this work we investigate posing fault-tolerant control as a single Bayesian inference problem. Previous work showed that precision learning allows for stochastic FTC without an explicit fault detection step. While this leads to implicit fault recovery, information on sensor faults is not provided, which may be essential for triggering other
more » ... on actions. In this paper, we introduce a precision-learning based Bayesian FTC approach and a novel beta residual for fault detection. Simulation results are presented, supporting the use of beta residual against competing approaches.
arXiv:2204.08035v1 fatcat:fiwhb37t35codmqbfawondflpe