Approach to detection and explanation of control by a robust filter

Approche de détection et d'explication d'erreur de commande par filtrage robuste

Pascale Marangé (1) , Serge Debernard (2) , François Gellot (3) , Marie-Pierre Pacaux-Lemoine (2) , Philippot Alexandre (3) , Thierry Poulain (2) , Bernard Riera (3) , Pétin Jean-François (1)

1 CRAN - Centre de Recherche en Automatique de Nancy
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
3 CRESTIC - Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804

This paper presents the work done between three laboratories about the control error detection. The objective is firstly to propose a filtering approach to protect the system from any control error and secondly, to propose, if necessary, assistance to understand the error. For this, the authors propose on one hand, a method to design the safety filter that takes into account the plant state and on the other, the generation of explanations to support human operator in correcting control error. The proposed approach is illustrated on an example of sorting

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

Pascale Marangé, Serge Debernard, François Gellot, Marie-Pierre Pacaux-Lemoine, Philippot Alexandre, et al.. Approach to detection and explanation of control by a robust filter. Journal Européen des Systèmes Automatisés (JESA), 2014, 48 (4-5-6), pp.339-372. ⟨10.3166/JESA.48.339-372⟩. ⟨hal-03511676⟩