Collision detection for a flexible cantilever-beam subject to random disturbance based on innovation process

Author

Sawada, Yuichi

Author_Institution

Dept. of Mech. & Syst. Eng., Kyoto Inst. of Technol., Japan

Volume

2

fYear

2002

fDate

2002

Firstpage

1171

Abstract

In this paper, an algorithm for detection of collisions for a flexible cantilever-beam subject to random disturbance based on a model-based fault diagnosis method is presented. The mathematical model of the flexible cantilever-beam is described by an Euler-Bernoulli type partial differential equation. The collision detection filter is constructed based on the Kalman filter for the finite-dimensional system corresponding to the mathematical model of the flexible beam. If collisions of the flexible beam and environmental obstacles occur, the statistics of the residual signal (innovation process) change. To detect such a statistical change of the residual signal due to the collision, a chi-squared like test is introduced. Several numerical results are presented.

Keywords

Kalman filters; collision avoidance; fault diagnosis; flexible manipulators; manipulator dynamics; partial differential equations; Euler-Bernoulli type partial differential equation; Kalman filter; chi-squared like test; collision detection; collision detection filter; dynamics; environmental obstacles; finite-dimensional system; flexible cantilever-beam; innovation process; mathematical model; model-based fault diagnosis method; numerical results; random disturbance; residual signal statistics; Actuators; Fault detection; Fault diagnosis; Filters; Manipulator dynamics; Mathematical model; Partial differential equations; Statistics; Technological innovation; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2002. Proceedings of the 2002 International Conference on

Print_ISBN

0-7803-7386-3

Type

conf

DOI

10.1109/CCA.2002.1038771

Filename

1038771