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.
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