Enhancing the robustness of fault isolation estimator for fault diagnosis in robotic systems

Abstract

Fault diagnosis and fault tolerant control are increasingly importance in robotic systems. A number of researchers have proposed the generalized observer scheme for fault isolation when a fault happened. One of the key issues in this scheme is based on the sensitive of the residual with the corresponding adaptive threshold. In this paper, we present a new method to derive the adaptive threshold in order to enhance the robustness of fault isolation estimator and reduce the fault isolation time. Mathematical proof and computer simulation are performed to show the effectiveness of the proposed method. © 2013 Springer Science+Business Media Dordrecht(Outside the USA).