{"id":"https://openalex.org/W4399039339","doi":"https://doi.org/10.1109/tac.2024.3405816","title":"Performance-Based Fault-Tolerant Control Uniformly Accommodating Multiple Levels of Actuation Failures","display_name":"Performance-Based Fault-Tolerant Control Uniformly Accommodating Multiple Levels of Actuation Failures","publication_year":2024,"publication_date":"2024-05-27","ids":{"openalex":"https://openalex.org/W4399039339","doi":"https://doi.org/10.1109/tac.2024.3405816"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2024.3405816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3405816","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030922563","display_name":"Ye Cao","orcid":"https://orcid.org/0000-0002-0279-6175"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ye Cao","raw_affiliation_strings":["State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0002-0279-6175","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003713510","display_name":"Xinjun Wang","orcid":"https://orcid.org/0000-0002-9141-7279"},"institutions":[{"id":"https://openalex.org/I28006308","display_name":"Shandong Normal University","ror":"https://ror.org/01wy3h363","country_code":"CN","type":"education","lineage":["https://openalex.org/I28006308"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinjun Wang","raw_affiliation_strings":["School of Information Science and Engineering, Shandong Normal University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-9141-7279","affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Shandong Normal University, Jinan, China","institution_ids":["https://openalex.org/I28006308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078238429","display_name":"Yajing Ma","orcid":"https://orcid.org/0000-0003-0127-1403"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yajing Ma","raw_affiliation_strings":["School of Internet of Things, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-0127-1403","affiliations":[{"raw_affiliation_string":"School of Internet of Things, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jianfu Cao","orcid":"https://orcid.org/0009-0005-1311-9670"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfu Cao","raw_affiliation_strings":["State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":"https://orcid.org/0009-0005-1311-9670","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035337020","display_name":"Yongduan Song","orcid":"https://orcid.org/0000-0002-2167-1861"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongduan Song","raw_affiliation_strings":["International Joint Laboratory on Safety and Control of Autonomous Unmanned Systems, and the Key Laboratory of Intelligent Unmanned Systems, School of Automation, Chongqing University, Chongqing, China","State Key Laboratory of Power Transmission Equipment & System Security and New Technology, Chongqing Key Laboratory of Intelligent Unmanned Systems, School of Automation, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-2167-1861","affiliations":[{"raw_affiliation_string":"International Joint Laboratory on Safety and Control of Autonomous Unmanned Systems, and the Key Laboratory of Intelligent Unmanned Systems, School of Automation, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"State Key Laboratory of Power Transmission Equipment & System Security and New Technology, Chongqing Key Laboratory of Intelligent Unmanned Systems, School of Automation, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6217,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.89683433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"69","issue":"11","first_page":"8018","last_page":"8025"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11357","display_name":"Risk and Safety Analysis","score":0.9617000222206116,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13690","display_name":"Quality and Safety in Healthcare","score":0.9235000014305115,"subfield":{"id":"https://openalex.org/subfields/3607","display_name":"Medical Laboratory Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.703060507774353},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.550649106502533},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5349845290184021},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48896849155426025},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.474211722612381},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4279961884021759},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.393154501914978},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32450103759765625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27238088846206665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07625293731689453}],"concepts":[{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.703060507774353},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.550649106502533},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5349845290184021},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48896849155426025},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.474211722612381},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4279961884021759},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.393154501914978},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32450103759765625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27238088846206665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07625293731689453}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2024.3405816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3405816","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G2219350472","display_name":null,"funder_award_id":"62250710167","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3171924768","display_name":null,"funder_award_id":"62303287","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3474679019","display_name":null,"funder_award_id":"61991400","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3713508235","display_name":"\u52a8\u6001\u73af\u5883\u4e0b\u7684\u65e0\u4eba\u7cfb\u7edf\u5148\u8fdb\u63a7\u5236\u7406\u8bba\u53ca\u81ea\u4e3b\u534f\u4f5c\u7b56\u7565\u7814\u7a76","funder_award_id":"61933012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G427939124","display_name":null,"funder_award_id":"xzy012022091","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4867859608","display_name":null,"funder_award_id":"61991403","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7201228768","display_name":null,"funder_award_id":"62103322","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8524270613","display_name":null,"funder_award_id":"62103201","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1972812456","https://openalex.org/W1998659693","https://openalex.org/W2034743631","https://openalex.org/W2127801773","https://openalex.org/W2142709633","https://openalex.org/W2157845790","https://openalex.org/W2172678131","https://openalex.org/W2238345790","https://openalex.org/W2337508653","https://openalex.org/W2342952057","https://openalex.org/W2478171847","https://openalex.org/W2607297160","https://openalex.org/W2741431827","https://openalex.org/W2765682005","https://openalex.org/W2789897185","https://openalex.org/W2890211284","https://openalex.org/W2998971404","https://openalex.org/W3000371092","https://openalex.org/W3029109137","https://openalex.org/W3091023238","https://openalex.org/W3159341614","https://openalex.org/W4312971606","https://openalex.org/W4385253077"],"related_works":["https://openalex.org/W1577886464","https://openalex.org/W2144438995","https://openalex.org/W2164896586","https://openalex.org/W1593559483","https://openalex.org/W2108334564","https://openalex.org/W4234906596","https://openalex.org/W2111125783","https://openalex.org/W4229591372","https://openalex.org/W2071544734","https://openalex.org/W2100367016"],"abstract_inverted_index":{"Most":[0],"existing":[1],"fault-tolerant":[2,60,74],"control":[3,28,61,75,93,150],"schemes":[4],"either":[5],"are":[6],"contingent":[7],"upon":[8,55],"timely":[9],"and":[10,135,156],"accurate":[11],"fault":[12,44],"identification":[13],"or":[14,143],"need":[15,139],"to":[16,48,106],"be":[17],"redesigned":[18],"whenever":[19],"the":[20,27,86,111,117,122,128,138,148],"types/phases":[21],"of":[22,52,66,69,124],"actuator":[23,53,70,113],"failures":[24],"change,":[25],"rendering":[26],"design":[29],"rather":[30],"complex.":[31],"In":[32],"this":[33],"work,":[34],"a":[35,41,57,91],"dynamic":[36],"hardware":[37],"redundancy":[38],"technique":[39],"with":[40,116],"performance-based":[42,59],"trivial":[43],"detector":[45],"is":[46,63,88,114,152],"proposed":[47,73],"accommodate":[49],"multiple":[50],"levels":[51],"failures,":[54,126],"which":[56],"unified":[58,92],"scheme":[62,151],"developed":[64,89],"irrespective":[65],"different":[67,96],"phases":[68,98],"failures.":[71],"The":[72],"exhibits":[76],"several":[77],"salient":[78],"features:":[79],"1)":[80],"by":[81],"choosing":[82],"appropriate":[83],"performance":[84],"functions,":[85],"controller":[87],"under":[90],"structure":[94,155],"against":[95],"actuation":[97,105,133],"ranging":[99],"from":[100],"healthy":[101],"actuation,":[102],"moderate":[103,132],"failure":[104,108],"post-extreme":[107],"actuation;":[109],"2)":[110],"faulty":[112],"replaced":[115],"backup":[118],"one":[119],"only":[120],"in":[121,154,158],"event":[123],"extreme":[125],"avoiding":[127],"unnecessary":[129],"replacement":[130],"during":[131],"failure;":[134],"3)":[136],"without":[137],"for":[140],"neural":[141],"networks":[142],"fuzzy":[144],"systems":[145],"based":[146],"approximation,":[147],"resultant":[149],"simple":[153],"inexpensive":[157],"computation.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}