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

Te-Sheng Hsiao*, Mao Chiao Weng

*此作品的通信作者

研究成果: Conference contribution同行評審

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of the 2010 American Control Conference, ACC 2010
發行者Institute of Electrical and Electronics Engineers Inc.
頁面6054-6059
頁數6
ISBN(電子)978-1-4244-7427-1, 2378-5861
ISBN(列印)9781424474264, 0743-1619
DOIs
出版狀態Published - 15 10月 2010
事件2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
持續時間: 30 6月 20102 7月 2010

出版系列

名字Proceedings of the 2010 American Control Conference, ACC 2010

Conference

Conference2010 American Control Conference, ACC 2010
國家/地區United States
城市Baltimore, MD
期間30/06/102/07/10

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