Artificial Immune Systems: An Overview for Faulting Actuators

This paper reviews Artificial Immune Systems (AIS) that can be implemented to compensate for actuators that are in a faulted state or operating abnormally. Eventually, all actuators will fail or wear out, and these actuator faults must be managed if a system is to operate safely. The AIS are adaptiv...

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Bibliographic Details
Published inActuators Vol. 8; no. 3; p. 53
Main Author Kidd, Robert
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 2019
Subjects
Actuators
Adaptive algorithms
artificial immune system
Artificial intelligence
case-study
Failure
fault-tolerant control
Genetic algorithms
Immune system
Real time
Robots
Steering
Wheels
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Summary:This paper reviews Artificial Immune Systems (AIS) that can be implemented to compensate for actuators that are in a faulted state or operating abnormally. Eventually, all actuators will fail or wear out, and these actuator faults must be managed if a system is to operate safely. The AIS are adaptive algorithms which are inherently well-suited to these situations by treating these faults as infections that must be combated. However, the computational intensity of these algorithms has caused them to have limited success in real-time situations. With the advent of distributed and cloud-based computing these algorithms have begun to be feasible for diagnosing faulted actuators and then generating compensating controllers in near-real-time. To encourage the application of AIS to these situations, this work presents research for the fundamental operating principles of AIS, their applications, and a brief case-study on their applicability to fault compensation by considering an overactuated rover with four independent drive wheels and independent front and rear steering.
ISSN:2076-0825
2076-0825
DOI:10.3390/act8030053