| Titre : | Adaptive observer for fault diagnosis in nonlinear discrete-time systems (2008) |
| Auteurs : | F. Caccavale, Auteur ; L. Villani, Auteur ; F. Pierri, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 130 N°2, Mars/Avril 2008) |
| Article en page(s) : | 9 p. |
| Note générale : | dynamic systems |
| Langues : | Anglais |
| Tags : | actuators ; modeling ; dynamics (mechanics) ; stability ; errors ; fault diagnosis ; manipulators ; nonlinear systems ; failure ; robots ; equations ; state estimation ; flaw detection |
| Résumé : | This paper deals with the problem of fault diagnosis (FD) for a class of nonlinear systems. The scheme is based on a discrete-time diagnostic observer that computes a prediction of the system’s state. Compensation of the fault effect on the state prediction is achieved via an adaptive discrete-time approach, based on a parametric model of the faults. A stability proof is developed to prove the global exponential stability of the state estimates. A solution for fault isolation and identification is also proposed, based on a postfault analysis. The proposed FD approach is applied and experimentally tested on a conventional industrial robot manipulator. |
| En ligne : | http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&issueid=26437 |
