Title :
Adaptive discrete-time fault diagnosis for a class of nonlinear systems: application to a mechanical manipulator
Author :
Antonelli, Gianluca ; Caccavale, Fabrizio ; Villani, Luigi
Author_Institution :
Dipt. di Autom., Univ. degli Studi di Cassino, Italy
Abstract :
In this paper an adaptive approach to fault diagnosis (FD) for a class of nonlinear dynamical systems in the presence of actuator faults is presented. Namely, a discrete-time observer-based FD scheme is developed to compute an online estimate of the system state. In order to cope with uncertainties and discretization errors, a suitable parametric model is adopted for the uncertain terms, where the parameters are adaptively estimated. An experimental case study, based on an industrial mechanical manipulator, is developed to test the effectiveness of the approach.
Keywords :
adaptive estimation; discrete time systems; fault diagnosis; industrial manipulators; nonlinear dynamical systems; observers; parameter estimation; uncertain systems; adaptive discrete time fault diagnosis; adaptive estimation; discrete time observer based FD scheme; discretization errors; industrial mechanical manipulator; nonlinear dynamical systems; online state estimation;
Conference_Titel :
Intelligent Control. 2003 IEEE International Symposium on
Conference_Location :
Houston, TX, USA
Print_ISBN :
0-7803-7891-1
DOI :
10.1109/ISIC.2003.1254715