Fault detection, isolation, and accommodation control in robotic systems

IEEE Transactions on Automation Science and Engineering

Volumn 5, Issue 3, 2008, Pages 480-489

  Huang, Sunan N ^a   Tan, Kok Kiang ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

Accommodation control; Fault detection; Fault diagnosis; Nonlinear model

Indexed keywords

CONTROL SYSTEMS; ELECTRIC FAULT CURRENTS; NEURAL NETWORKS; ROBOTICS;

CONTROL DESIGNS; FAULT DIAGNOSIS (FD); FAULT INFORMATION; FAULT ISOLATION; FAULT-ACCOMMODATION; FUNCTION SETS; NON-LINEAR CHARACTERISTICS; NON-LINEAR OBSERVERS; OBSERVER (OBS); ROBOTIC SYSTEMS; STATE OBSERVERS;

FAULT DETECTION;

EID: 46849121408     PISSN: 15455955     EISSN: None     Source Type: Journal    
DOI: 10.1109/TASE.2008.917009     Document Type: Article

References (23)

1. R. Patton, P. Frank, and R. Clark, Fault Diagnosis in Dynamic Systems. Englewood Cliffs, NJ: Prentice-Hall, 1989.
2. R. Isermann, "Process fault detection based on modeling and estimation methods-A survey," Automatica, vol. 20, pp. 387-404, 1984.
3. M. L. Visinsky, J. R. Cavallaro, and I. D. Walker, "Expert system frame-work for fault detection and fault tolerance in robotics," Computers Electr. Eng., vol. 20, pp. 421-435, 1994.
4. J. Wunnenberg and P. M. Frank, "Dynamic model based incipient fault detection concept for robotics," in Proc. IFAC 11th Triennial World Congr., Tallinn, Estonia, 1990, pp. 61-66.
5. A. T. Vemuri and M. M. Polycarpou, "Neural-network-based robust fault diagnosis in robotic systems," IEEE Trans. Neural Networks, vol. 8, no. 6. pp. 1410-1419, Dec. 1997.
6. T. Renato, H. T. Marco, and B. Marcel, "Fault detection and isolation in cooperative manipulators via artificial neural networks." in Proc. IEEE Int. Conf Control Applications. Mexico, 2001, pp. 492-497.
7. J. A. Farrell, T. Berger, and B. D. Appleby, "Using learning techniques to accommodate unanticipated faults," in IEEE Contr: Syst. Mag., 1993, vol. 13, pp. 40-49.
8. H. Wang and S. Daley, "Actuator fault diagnosis: An adaptive observer-based technique," IEEE Trans. Automat. Contr., vol. 41, no. 8, pp. 1073-1078, Aug. 1996.
9. G. Tao, X. L. Ma, and S. M. Joshi, Adaptive state feedback control of systems with actuator failures, Univ. Virginia. Charlottesville, 1999.
10. M. M. Polycarpou, "Fault accommodation of a class of multivariable nonlinear dynamical systems using a learning approach," IEEE Trans. Automat. Contr., vol. 46, no. 4, pp. 736-742, Apr. 2001.
11. R. J. Patton, "Fault-tolerant control: The 1997 situation," in Proc. IFAC Symp. Fault Detection, Supeivision Safety for Processes (SAFEPROCESS). 1997, pp. 1033-1055.
12. B. Armstrong-Helouvry, "Stick-slip and control in low-speed motion." IEEE Trans. Automat. Contr., vol. 38, no. 10, pp. 1483-1496, Oct. 1993.
13. C. Canudas De Wit, H. Olsson, K. Astrom, and P. Lischinsky. "A new model for control of systems with friction," IEEE Trans. Automat. Contr., vol. 40, no. 3, pp. 419-425, Mar. 1995.
14. P. Wasserman, Neural Computing: Theory and Practice. New York: Van Nostrand, 1989.
15. S. Haykin, Neural Networks, A Comprehensive Foundation. Englewood Cliffs, NJ: Prentice-Hall, 1994.
16. T. Khana, Foundation of Neural Networks. New York: Addison Wesley, 1995.
17. F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of Robot Manipulators. New York: Macmillan, 1993.
18. F. L. Lewis, S. Jagannathan, and A. Yesildirek, Neural Network Control of Robot Manipulators and Nonlinear Systems. London, U.K.: Taylor & Francis, 1999.
19. S. N. Huang, K. K. Tan, and T. H. Lee, "Adaptive friction compensation using neural network approximations," IEEE Trans. SMC (Part C), vol. 30, pp. 551-557, 2000.
20. S. N. Huang, K. K. Tan, and T. H. Lee, "An improvement on stable adaptive control for a class of nonlinear systems," IEEE Trans. Automat. Contr., vol. 49, no. 8, pp. 1398-1403, Aug. 2004.
21. X. Zhang, T. Parisini, and M. M. Polycarpou, "Adaptive fault-tolerant control of nonlinear uncertain systems: An information-based diagnostic approach," IEEE Trans. Autom. Control, vol. 49, no. 8, pp. 1259-1274, Aug. 2004.
22. P. A. loannou and J. Sun, Stable and Robust Adaptive Control. Englewood Cliffs, NJ: Prentice-Hall, 1995.
23. K. S. Narendra and A. M. Annaswamy, Stable Adaptive Control. Englewood Cliffs, NJ: Prentice-Hall, 1989.