Transmissibility-Based Fault Detection for Robotic Applications With Time-Varying Parameters

Abstract

This article investigates transmissibility operators for time-variant systems with bounded nonlinearities. Transmissibility operators are mathematical objects that characterize the relationship between two subsets of responses of an underlying system. The underlying system parameters and nonlinearities are assumed to be unknown. Time-domain transmissibility operators are independent of the system inputs and initial conditions. In this article, we propose an algorithm to identify time-varying transmissibilities using recursive least-squares and noncausal finite impulse response models. The identified transmissibilities are then used for fault detection in three different systems. The first system is an autonomous multirobotic system formulated to emulate connected autonomous vehicle platoons, where the varying parameters are the robot mass and the ground friction coefficient. The second system is a flexible structure with unknown excitation, where the variant parameter is the location of the excitation. Finally, the third system is a robotic manipulator that picks objects with different mass values.