Name
Abstract | ||
|---|---|---|
In this paper, fault diagnosis and accommodation control are developed for robotic systems. First, a nonlinear observer in the proposed method is designed based on the available model. The fault detection is carried out by comparing the observer states with their signatures. Secondly, state observers are constructed based on possible fault function sets. Thirdly, the accommodation control design is developed using a normal controller plus a neural network compensator to capture the nonlinear characteristics of faults. Finally, if the fault isolation is completed successfully, the second fault accommodation controller is presented based on the fault information obtained by the isolation scheme. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/TASE.2008.917009 | Automation Science and Engineering, IEEE Transactions |
Keywords | Field | DocType |
fault diagnosis,neurocontrollers,nonlinear control systems,observers,robots,accommodation control,fault detection,fault diagnosis,fault function sets,fault isolation,neural network compensator,nonlinear observer,robotic systems,state observers,Accommodation control,fault detection,fault diagnosis,nonlinear model | Stuck-at fault,Intelligent control,Robot control,Control theory,Computer science,Control theory,Fault detection and isolation,Control engineering,Control system,Observer (quantum physics),Control reconfiguration | Journal |
Volume | Issue | ISSN |
5 | 3 | 1545-5955 |
Citations | PageRank | References |
13 | 0.88 | 9 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Su-Nan Huang | 1 | 505 | 61.65 |
| Kok Kiang Tan | 2 | 13 | 0.88 |