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

页码：4901 / 4911

页数：11

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