A hierarchical multiple-model approach for detection and isolation of robotic actuator faults

Te-Sheng Hsiao; Mao Chiao Weng

doi:10.1109/ACC.2010.5531290

A hierarchical multiple-model approach for detection and isolation of robotic actuator faults

Te-Sheng Hsiao^*, Mao Chiao Weng

^*Corresponding author for this work

Department of Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) schemes must be carefully designed and implemented on robotic systems in order to guarantee safe and reliable operations. In this paper, we propose a hierarchical multiple-model FDI (HMM-FDI) scheme for robotic actuator faults. The proposed algorithm performs FDI in stages and refines the associated model set at each stage. Consequently only a small number of models are required for a wide class of faults, including abrupt faults, incipient faults, and simultaneous faults. Experiments are conducted to show that the HMM-FDI scheme can successfully and immediately detect and isolate various types of actuator faults.

Original language	English
Title of host publication	Proceedings of the 2010 American Control Conference, ACC 2010
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6054-6059
Number of pages	6
ISBN (Electronic)	978-1-4244-7427-1, 2378-5861
ISBN (Print)	9781424474264, 0743-1619
DOIs	https://doi.org/10.1109/ACC.2010.5531290
State	Published - 2010
Event	2010 American Control Conference, ACC 2010 - Baltimore, MD, United States Duration: 30 Jun 2010 → 2 Jul 2010

Publication series

Name	Proceedings of the 2010 American Control Conference, ACC 2010

Conference

Conference	2010 American Control Conference, ACC 2010
Country/Territory	United States
City	Baltimore, MD
Period	30/06/10 → 2/07/10

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10.1109/ACC.2010.5531290

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Hsiao, T.-S., & Weng, M. C. (2010). A hierarchical multiple-model approach for detection and isolation of robotic actuator faults. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 6054-6059). Article 5531290 (Proceedings of the 2010 American Control Conference, ACC 2010). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2010.5531290

@inproceedings{b78812b896dd4325a1d34fe1417ea509,

title = "A hierarchical multiple-model approach for detection and isolation of robotic actuator faults",

abstract = "Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) schemes must be carefully designed and implemented on robotic systems in order to guarantee safe and reliable operations. In this paper, we propose a hierarchical multiple-model FDI (HMM-FDI) scheme for robotic actuator faults. The proposed algorithm performs FDI in stages and refines the associated model set at each stage. Consequently only a small number of models are required for a wide class of faults, including abrupt faults, incipient faults, and simultaneous faults. Experiments are conducted to show that the HMM-FDI scheme can successfully and immediately detect and isolate various types of actuator faults.",

author = "Te-Sheng Hsiao and Weng, {Mao Chiao}",

year = "2010",

doi = "10.1109/ACC.2010.5531290",

language = "English",

isbn = "9781424474264",

series = "Proceedings of the 2010 American Control Conference, ACC 2010",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "6054--6059",

booktitle = "Proceedings of the 2010 American Control Conference, ACC 2010",

address = "美國",

note = "2010 American Control Conference, ACC 2010 ; Conference date: 30-06-2010 Through 02-07-2010",

}

Hsiao, T-S & Weng, MC 2010, A hierarchical multiple-model approach for detection and isolation of robotic actuator faults. in Proceedings of the 2010 American Control Conference, ACC 2010., 5531290, Proceedings of the 2010 American Control Conference, ACC 2010, Institute of Electrical and Electronics Engineers Inc., pp. 6054-6059, 2010 American Control Conference, ACC 2010, Baltimore, MD, United States, 30/06/10. https://doi.org/10.1109/ACC.2010.5531290

A hierarchical multiple-model approach for detection and isolation of robotic actuator faults. / Hsiao, Te-Sheng; Weng, Mao Chiao.
Proceedings of the 2010 American Control Conference, ACC 2010. Institute of Electrical and Electronics Engineers Inc., 2010. p. 6054-6059 5531290 (Proceedings of the 2010 American Control Conference, ACC 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Hsiao, Te-Sheng

AU - Weng, Mao Chiao

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N2 - Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) schemes must be carefully designed and implemented on robotic systems in order to guarantee safe and reliable operations. In this paper, we propose a hierarchical multiple-model FDI (HMM-FDI) scheme for robotic actuator faults. The proposed algorithm performs FDI in stages and refines the associated model set at each stage. Consequently only a small number of models are required for a wide class of faults, including abrupt faults, incipient faults, and simultaneous faults. Experiments are conducted to show that the HMM-FDI scheme can successfully and immediately detect and isolate various types of actuator faults.

AB - Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) schemes must be carefully designed and implemented on robotic systems in order to guarantee safe and reliable operations. In this paper, we propose a hierarchical multiple-model FDI (HMM-FDI) scheme for robotic actuator faults. The proposed algorithm performs FDI in stages and refines the associated model set at each stage. Consequently only a small number of models are required for a wide class of faults, including abrupt faults, incipient faults, and simultaneous faults. Experiments are conducted to show that the HMM-FDI scheme can successfully and immediately detect and isolate various types of actuator faults.

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T3 - Proceedings of the 2010 American Control Conference, ACC 2010

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Y2 - 30 June 2010 through 2 July 2010

ER -

A hierarchical multiple-model approach for detection and isolation of robotic actuator faults

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