Neuro-fuzzy and soft computing: a computational approach to learning and machine intelligence
Neuro-fuzzy and soft computing: a computational approach to learning and machine intelligence
Robust model-based fault diagnosis for dynamic systems
Robust model-based fault diagnosis for dynamic systems
Neural Networks: A Comprehensive Foundation
Neural Networks: A Comprehensive Foundation
Control of Robot Manipulators
Issues of Fault Diagnosis for Dynamic Systems
Issues of Fault Diagnosis for Dynamic Systems
On fuzzy logic applications for automatic control, supervision, and fault diagnosis
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Neural-network-based robust fault diagnosis in robotic systems
IEEE Transactions on Neural Networks
A robust fault detection and isolation scheme for robot manipulators based on neural networks
ICIC'11 Proceedings of the 7th international conference on Advanced Intelligent Computing
The build of a new non-dimensional indicator for fault diagnosis in rotating machinery
International Journal of Wireless and Mobile Computing
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With growing technology, fault detection and isolation (FDI) have become one of the interesting and important research areas in modern control and signal processing. Accomplishment of specific missions like waste treatment in nuclear reactors or data collection in space and underwater missions make reliability more important for robotics and this demand forces researchers to adapt available FDI studies on nonlinear systems to robot manipulators, mobile robots and mobile manipulators. In this study, two model-based FDI schemes for robot manipulators using soft computing techniques, as an integrator of Neural Network (NN) and Fuzzy Logic (FL), are proposed. Both schemes use M-ANFIS for robot modelling. The first scheme isolates faults by passing residual signals through a neural network. The second scheme isolates faults by modelling faulty robot models for defined faults and combining these models as a generalized observers scheme (GOS) structure. Performances of these schemes are tested on a simulated two-link planar manipulator and simulation results and a comparison according to some important FDI specifications are presented.