سال انتشار: ۱۳۸۲

محل انتشار: یازدهمین کنفرانس مهندسی برق

تعداد صفحات: ۹

نویسنده(ها):

N. Vasegh – Dept. of Electrical Engineering, K. N. Tossi University of Technology
M. J. Yazdanpanah – Dept. of Electrical & Computer Engineering, Univ. of Tehran

چکیده:

In this paper, first we survey Fault Detection and Isolation (FDI) for nonlinear systems. A necessary condition for the problem to be solvable is derived in terms of an unobservability distribution, which is computable by means of suitable algorithms. Then we apply this method on m-link manipulators with flexible joints in order to detect actuator faults. The simulation result for the case of a single-link flexible joint manipulator reveals the effectiveness of approach