A hierarchical multiple-model approach for detection and isolation of robotic actuator faults

Te-Sheng Hsiao*, Mao Chiao Weng

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) schemes must be carefully designed and implemented on robotic systems in order to guarantee safe and reliable operations. In this paper, we propose a hierarchical multiple-model FDI (HMM-FDI) scheme for robotic actuator faults. The proposed algorithm performs FDI in stages and refines the associated model set at each stage. Consequently only a small number of models are required for a wide class of faults, including abrupt faults, incipient faults, and simultaneous faults. Experiments are conducted to show that the HMM-FDI scheme can successfully and immediately detect and isolate various types of actuator faults.

Original languageEnglish
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6054-6059
Number of pages6
ISBN (Electronic)978-1-4244-7427-1, 2378-5861
ISBN (Print)9781424474264, 0743-1619
DOIs
StatePublished - 15 Oct 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: 30 Jun 20102 Jul 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Conference

Conference2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period30/06/102/07/10

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    Hsiao, T-S., & Weng, M. C. (2010). A hierarchical multiple-model approach for detection and isolation of robotic actuator faults. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 6054-6059). [5531290] (Proceedings of the 2010 American Control Conference, ACC 2010). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2010.5531290