The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed here. Four faults are considered: free-swinging joint faults, locked joint faults, incorrect measured joint position, and incorrect measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamic...

Inspection policies are essential for many types of systems for which the status (functioning or failed) can be determined only by actual inspection. Two types of inspection error may occur. A functioning system may be incorrectly assessed as having failed or a failed system may be incorrectly assessed as functioning. These errors are designated as Types I and II respectively, and their impact ...

Multiple timing faults, although detectable individually, can hide each other’s faulty behavior making the faulty system indistinguishable from a non-faulty one. A set of graph augmentations are introduced for single timing faults. The fault detection capability of the augmentations is analyzed in the presence of multiple timing faults and shown that multiple occurrences of a class of timing fa...

Abstract: In this paper, fault tolerant control (FTC) system is developed for lateral vehicle dynamics by combining static output feedback control and sliding mode observers for improving vehicle handling and stability under sensors faults. The system consists of three blocks: fault detection and isolation (FDI) block, a static output feedback controller block and a switcher block. The nonlinea...

The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed in this paper. Four FDI procedures are developed to deal with free-swinging joint faults, locked joint faults, incorrectly measured joint position, and incorrectly measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) ...

Recent approaches to fault detection and isolation for dynamic systems using methods of integrating quantitative and qualitative model information, based upon soft computing (SC) methods are surveyed. In this study, the use of SC methods is considered an important extension to the quantitative model-based approach for residual generation in FDI. When quantitative models are not readily availabl...

Initially, incremental bond graphs were introduced to support frequency domain sensitivity analysis of linearised time-invariant models. Subsequent publications have shown that they can be used for other purposes as well such as the determination of parameter sensitivities of analytical redundancy relations (ARRs) in symbolic form. This paper extends previous work to fault detection and isolati...

This paper presents a design of MANFIS (Multiple Adaptive Neuro Fuzzy Inference System) based sensor Fault Detection and Isolation (FDI) scheme for a three interacting tank system. Three pairs of dedicated observers are designed to estimate the three states of the system. The observers designed are fuzzy systems whose optimal membership functions and rule base are determined by neural networks....

In this paper a discrete-time observer-based approach to Fault Detection and Isolation (FDI) for industrial robotic manipulators is presented and experimentally tested. In order to counteract the effects of unmodeled dynamics and disturbances, a time-delayed estimate of such effects is adopted. Remarkably, the observer is designed directly in the discrete-time domain. The performance of the pro...