Fault-Diagnosis Systems

Isermann, Rolf

doi:10.1007/3-540-30368-5

Cited by 1,186 publications

(203 citation statements)

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“…At the same time it may produce false negatives for light contacts and possibly delayed positives for softer contacts. In order to overcome this limitation, suitable techniques such as friction compensation, model-based adaptive thresholding [60], or learning techniques can be applied to increase detection sensitivity [61]. The largely nonlinear error dynamics (52) is hard to be fully captured over the entire state and parameter spaces.…”

Section: A Detectionmentioning

confidence: 99%

Robot Collisions: A Survey on Detection, Isolation, and Identification

2017

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Abstract-Robot assistants and professional co-workers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for realtime collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human-robot interaction or manipulation tasks. The problem is addressed for rigid robots first, and then extended to the presence of joint/transmission flexibility. The basic, physically-motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.

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Section: A Detectionmentioning

confidence: 99%

Robot Collisions: A Survey on Detection, Isolation, and Identification

2017

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“…The literature on this subject is very rich (e.g., Frank, 1990;Chen and Patton, 1999;Patton et al, 2000;Chiang et al, 2001;Blanke et al, 2003;Korbicz et al, 2004;Isermann, 2006;Ding, 2013). On-line application of these algorithms requires modern computers and advanced information processing systems.…”

Section: Introductionmentioning

confidence: 99%

A double window state observer for detection and isolation of abrupt changes in parameters

Byrski

2016

International Journal of Applied Mathematics and Computer Science

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The paper presents a new method for diagnosis of a process fault which takes the form of an abrupt change in some real parameter of a time-continuous linear system. The abrupt fault in the process real parameter is reflected in step changes in many parameters of the input/output model as well as in step changes in canonical state variables of the system. Detection of these state changes will enable localization of the faulty parameter in the system. For detecting state changes, a special type of exact state observer will be used. The canonical state will be represented by the derivatives of the measured output signal. Hence the exact state observer will play the role of virtual sensors for reconstruction of the derivatives of the output signal. For designing the exact state observer, the model parameters before and after the moment of fault occurrence must be known. To this end, a special identification method with modulating functions will be used. A novel concept presented in this paper concerns the structure of the observer. It will take the form of a double moving window observer which consists of two signal processing windows, each of width T . These windows are coupled to each other with a common edge. The right-hand side edge of the left-side moving window in the interval [t − 2T, t − T ] is connected to the left-hand side edge of the right-side window which operates in the interval [t − T, t]. The double observer uses different measurements of input/output signals in both the windows, and for each current time t simultaneously reconstructs two values of the statethe final value of the state in the left-side window zT (t − T ) and the initial value of the state z0(t − T ) in the right-side window. If the process parameters are constant, the values of both the states on the common joint edge are the same. If an abrupt change (fault) in some parameter at the moment tA = t − T occurs in the system, then step changes in some variables of the canonical state vector will also occur and the difference between the states will be detected. This will enable localization of the faulty parameter in the system.

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“…The area of fault-tolerant control (FTC) has attracted a lot of attention in the past two decades, see e.g. the review papers (Blanke et al, 1997;Patton, 1997;Jiang, 2005) and books (Isermann, 2006;Blanke et al, 2006).…”

Section: Introductionmentioning

confidence: 99%

Reconfigurable Control of Input Affine Nonlinear Systems under Actuator Fault

Tabatabaeipour

Galeazzi

2015

IFAC-PapersOnLine

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This paper proposes a fault tolerant control method for input-affine nonlinear systems using a nonlinear reconfiguration block (RB). The basic idea of the method is to insert the RB between the plant and the nominal controller such that fault tolerance is achieved without re-designing the nominal controller. The role of the RB is twofold: on one hand it transforms the output of the faulty system such that its behaviour is similar to that of the nominal one from the controller's viewpoint; on the other hand it modifies the control input to the faulty system such that the stability of the reconfigured loop is preserved. The RB is realized by a virtual actuator and a reference model. Using notions of incremental and input-to-state stability (ISS), it is shown that ISS of the closed-loop reconfigured system can be achieved by the separate design of the virtual actuator. The proposed method does not need any knowledge of the nominal controller and only assumes that the nominal closed-loop system is ISS. The method is demonstrated on a dynamic positioning system for an offshore supply vessel, where the virtual actuator is designed using backstepping.

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Fault-Diagnosis Systems

Cited by 1,186 publications

References 0 publications

Robot Collisions: A Survey on Detection, Isolation, and Identification

Robot Collisions: A Survey on Detection, Isolation, and Identification

A double window state observer for detection and isolation of abrupt changes in parameters

Reconfigurable Control of Input Affine Nonlinear Systems under Actuator Fault

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