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

Mohamed Baioumy, William Hartemink, Riccardo M. G. Ferrari +1

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-…