Abstract

Fault detection and isolation (FDI) techniques is becoming one of the most phenomena in robotics in order to ensure higher levels of safety and productivity. Research, has been produced a considerable effort in seeking systematic approaches to fault detection for both linear and non-linear dynamical systems. In this paper, we present a high gain based observer to solve fault detection and isolation scheme for a class of affine non-linear systems. In order to test the effectiveness of the proposed approach, a case study is developed, based on simulation for a special robot manipulator named Articulated Nimble Adaptable Trunk ”ANAT” for five-degree-of-freedom in order to detected and isolated sensor fault.

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 call

Disclaimer: 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.