Abstract
Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) schemes must be carefully designed and implemented on robotic systems in order to guarantee safe and reliable operations. In this paper, we propose a hierarchical multiple-model FDI (HMM-FDI) scheme for robotic actuator faults. The proposed algorithm performs FDI in stages and refines the associated model set at each stage. Consequently only a small number of models are required for a wide class of faults, including abrupt faults, incipient faults, and simultaneous faults. Experiments are conducted to show that the HMM-FDI scheme can successfully and immediately detect and isolate various types of actuator faults.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
