共 32 条
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
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.
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页码:4901 / 4911
页数:11
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