Conference item
Fault-tolerant control of robot manipulators with sensory faults using unbiased active inference
- Abstract:
-
This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of probabilistically robust thresholds for fault-tolerant control of robotic systems using the free-energy. The proposed solution makes use of the sensory prediction errors in the free-energy for the generation of residuals and thresholds for fault detection and...
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- Publication status:
- Published
- Peer review status:
- Peer reviewed
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- Files:
-
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(Accepted manuscript, 504.8KB)
-
- Publisher copy:
- 10.23919/ecc54610.2021.9654913
Authors
Bibliographic Details
- Publisher:
- IEEE Publisher's website
- Host title:
- Proceedings of the 2021 European Control Conference (ECC)
- Pages:
- 1119-1125
- Publication date:
- 2022-01-03
- Event title:
- 2021 European Control Conference (ECC)
- Event location:
- Online
- Event website:
- http://ieeecss.org/event/2021-european-control-conference
- Event start date:
- 2021-06-29
- Event end date:
- 2021-07-02
- DOI:
- EISBN:
- 978-1-6654-7945-5
- ISBN:
- 978-9-4638-4236-5
Item Description
- Language:
- English
- Keywords:
- Pubs id:
-
1242858
- Local pid:
- pubs:1242858
- Deposit date:
- 2022-03-09
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2021
- Rights statement:
- © IEEE 2021.
- Notes:
- This paper was presented at the 2021 European Control Conference (ECC), 29th June - 2nd July 2021. This is the accepted manuscript version of the article. The final version is available online from IEEE at: https://doi.org/10.23919/ECC54610.2021.9654913
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