This paper deals with the problem of fault diagnosis (FD) for a class of nonlinear systems. The scheme is based on a discrete-time diagnostic observer that computes a prediction of the system’s state. Compensation of the fault effect on the state prediction is achieved via an adaptive discrete-time approach, based on a parametric model of the faults. A stability proof is developed to prove the global exponential stability of the state estimates. A solution for fault isolation and identification is also proposed, based on a postfault analysis. The proposed FD approach is applied and experimentally tested on a conventional industrial robot manipulator.
Adaptive Observer for Fault Diagnosis in Nonlinear Discrete-Time Systems
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Caccavale, F., Pierri, F., and Villani, L. (February 29, 2008). "Adaptive Observer for Fault Diagnosis in Nonlinear Discrete-Time Systems." ASME. J. Dyn. Sys., Meas., Control. March 2008; 130(2): 021005. https://doi.org/10.1115/1.2837310
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