標題: Detection and Identification of Actuator Faults in Robotic Systems Based on Multiple-Model Nonlinear State Estimation
作者: Hsiao, Tesheng
Haung, Huei-jyun
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: fault detection and isolation;unscented Kalman filter;GPB-2 algorithm;robot
公開日期: 2009
摘要: Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) systems must be carefully designed and implemented on robots in order to guarantee safe and reliable operations. In addition, many high performance robotic controllers require full state feedback; hence it is essential to implement state estimators whenever not all state variables are measurable. Moreover, the state estimator must work properly despite the presence of faults so that the robot is fault tolerable. In this paper, we propose an algorithm for state estimation, fault detection, and fault identification of a robotic system. All faults in consideration are associated with a set of exclusive fault modes. Then a multiple-model nonlinear state estimator is applied to estimate not only the state but also the fault mode of the robot at each time step. Furthermore all fault modes are organized in a hierarchical structure to alleviate the computation load. Simulations show that state estimation is accurate even in the event of actuator faults, and that the occurrence of faults is detected immediately. The computational advantage of the proposed hierarchical structure is also demonstrated by the simulations.
URI: http://hdl.handle.net/11536/14200
ISBN: 978-1-4244-4684-1
期刊: MED: 2009 17TH MEDITERRANEAN CONFERENCE ON CONTROL & AUTOMATION, VOLS 1-3
起始頁: 688
結束頁: 693
Appears in Collections:Conferences Paper