Adaptive fault detection and isolation for a class of robot manipulators with time-varying perturbation

被引：19
|
作者：
Rezazadeh, Amaneh Salmani [1 ]
Koofigar, Hamid Reza [2 ]
Hosseinnia, Saeed [1 ]
机构：
[1] Islamic Azad Univ, Najafabad Branch, Dept Elect Engn, Najafabad, Iran
[2] Univ Isfahan, Dept Elect Engn, Esfahan, Iran
来源：
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2015年 / 29卷 / 11期
关键词：
Estimation; Fault detection; Robot manipulators; Time-varying parameters; MULTIPLE-MODEL APPROACH; NONLINEAR-SYSTEMS; DYNAMIC-SYSTEMS; DIAGNOSIS; OBSERVER; IDENTIFICATION; DESIGN; REDUNDANCY; ACTUATORS; SENSOR;
D O I：
10.1007/s12206-015-1038-5
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents an adaptive-based fault detection and isolation scheme for a general class of robot manipulators, with characterizing the isolability conditions. The proposed algorithm consists of a nonlinear adaptive fault detection estimator and a bank of fault isolation estimators to determine the types of faults, which may be incipient or abrupt, while the fault parameter function may be time-varying. To demonstrate its effectiveness, the method is applied to a two-link robot manipulator and the simulation results are presented and discussed.
引用
收藏
页码：4901 / 4911
页数：11
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