Fault detection methods for reconfigurable manipulators via decentralized adaptive fuzzy nonlinear observer

In this paper, a decentralized adaptive fuzzy nonlinear observer is proposed for fault detection of reconfigurable manipulators. Estimation error is obtained from measured and observed velocity is used as the residual vector, the system is fault-free operation when residual vector is smaller than the selected threshold value. A fault is declared if the residual vector is greater than or equal to threshold, the threshold can be set based on the various trials conducted in absence of faults. The fuzzy logic systems are proposed for approximating unknown terms dynamic model of subsystem and interconnection term by using adaptive algorithm. With simulation, the effectiveness of the design technique is illustrated.