Abstract
This paper deals with the analysis and design of a fault detection and isolation scheme (FDI) for a class of affine nonlinear systems using high gain observers. The observers are applied for robot manipulator especially robot named Articulated Nimble Adaptable Trunk “ANAT” in order to detected and isoleted sensor fault. The simulations results prove the effectiveness, performances and the robustness of the approach.
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Omali, K.O., Kabbaj, M.N., Benbrahim, M. (2019). Sensor Fault Detection and Isolation for a Robot Manipulator Based on High-Gain Observers. In: Mizera-Pietraszko, J., Pichappan, P., Mohamed, L. (eds) Lecture Notes in Real-Time Intelligent Systems. RTIS 2017. Advances in Intelligent Systems and Computing, vol 756. Springer, Cham. https://doi.org/10.1007/978-3-319-91337-7_38
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DOI: https://doi.org/10.1007/978-3-319-91337-7_38
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