Abstract
This paper presents an adaptive-based fault detection and isolation scheme for a general class of robot manipulators, with characterizing the isolability conditions. The proposed algorithm consists of a nonlinear adaptive fault detection estimator and a bank of fault isolation estimators to determine the types of faults, which may be incipient or abrupt, while the fault parameter function may be time-varying. To demonstrate its effectiveness, the method is applied to a two-link robot manipulator and the simulation results are presented and discussed.
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Amaneh Salmani Rezazadeh received the B.S. in Electrical Engineering and the M.S. in Control Engineering both from Islamic Azad University, Najafabad, Isfahan, Iran in 2009 and 2012, respectively. Her current research topics are fault detection and isolation, adaptive control and industrial automation.
Hamid Reza Koofigar received the M.S. degree in Control Engineering in 2005 and his Ph.D. in Electrical Engineering in 2009, both from Isfahan University of Technology, Iran. He joined the Department of Electrical Engineering, University of Isfahan in 2010, as Assistant Professor. His current research interests include robust control, adaptive nonlinear control, and robotics.
Saeed Hosseinnia received his M.S. from Oklahoma State University, Stillwater, USA in 1974 and Ph.D. from Isfahan University of Technology (IUT), Isfahan, Iran in 2000 both in Electrical Engineering. He is currently an Assistant Professor of Electrical Engineering at Islamic Azad University-Najafabad Branch, Najafabad, Iran. His research interests include system theory, nonlinear control and robust control.
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Rezazadeh, A.S., Koofigar, H.R. & Hosseinnia, S. Adaptive fault detection and isolation for a class of robot manipulators with time-varying perturbation. J Mech Sci Technol 29, 4901–4911 (2015). https://doi.org/10.1007/s12206-015-1038-5
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DOI: https://doi.org/10.1007/s12206-015-1038-5