Influence matrix approach to fault diagnosis and controller tuning

Author

Poshtan, J. ; Doraiswami, R.

Author_Institution

Dept. of Electr. Eng., New Brunswick Univ., Fredericton, NB, Canada

fYear

1994

fDate

25-28 Sep 1994

Firstpage

810

Abstract

An experimental verification of the influence matrix approach to fault diagnosis and automatic tuning is proposed. The coefficients of the system transfer function are identified and the Jacobian of the coefficient vector with respect to physical parameters, termed the influence matrix, is computed. The influence matrix is used to detect and isolate faults. The optimal controller parameters are obtained using the influence matrix. It is assumed that the system is linear and time invariant, and the physical parameters enter the coefficient vector multilinearly. The proposed method is verified on a physical robot manipulator arm

Keywords

Jacobian matrices; computerised control; fault diagnosis; manipulators; optimal control; Jacobian; automatic tuning; coefficient vector; controller tuning; experimental verification; fault detection; fault diagnosis; influence matrix approach; physical parameters; physical robot manipulator arm; system transfer function; time invariant system; Digital control; Fault diagnosis; Jacobian matrices; Manipulators; Optimal control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering, 1994. Conference Proceedings. 1994 Canadian Conference on

Conference_Location

Halifax, NS

Print_ISBN

0-7803-2416-1

Type

conf

DOI

10.1109/CCECE.1994.405875

Filename

405875