Fault isolation and estimation in electric servoactuator of manipulation robots

The problem of fault isolation and fault estimation in electric servoactuator of manipulation robots to achieve fault accommodation is considered. A bank of diagnostic observers is used to provide the fault isolation and fault estimation processes. So-called logic-dynamic approach is suggested to solve this problem. The advantage of this approach is that it allows considering the systems with non-smooth nonlinearities by linear methods. The disadvantage consists in possible increase of the observer dimension.