Fault Detection, Isolation, and Accommodation Control in Robotic Systems

In this paper, fault diagnosis and accommodation control are developed for robotic systems. First, a nonlinear observer in the proposed method is designed based on the available model. The fault detection is carried out by comparing the observer states with their signatures. Secondly, state observers are constructed based on possible fault function sets. Thirdly, the accommodation control design is developed using a normal controller plus a neural network compensator to capture the nonlinear characteristics of faults. Finally, if the fault isolation is completed successfully, the second fault accommodation controller is presented based on the fault information obtained by the isolation scheme.