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Research Papers

Adaptive Observer for Fault Diagnosis in Nonlinear Discrete-Time Systems

[+] Author and Article Information
F. Caccavale

Dipartimento di Ingegneria e Fisica dell’Ambiente, Università degli Studi della Basilicata, Via dell’Ateneo Lucano 10, 85100 Potenza, Italyfabrizio.caccavale@unibas.it

F. Pierri

Dipartimento di Ingegneria e Fisica dell’Ambiente, Università degli Studi della Basilicata, Via dell’Ateneo Lucano 10, 85100 Potenza, Italyfrancesco.pierri@unibas.it

L. Villani

Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italyluigi.villani@unina.it

J. Dyn. Sys., Meas., Control 130(2), 021005 (Feb 29, 2008) (9 pages) doi:10.1115/1.2837310 History: Received June 19, 2006; Revised June 07, 2007; Published February 29, 2008

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.

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Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 6

Residuals 7–12 of the 5th isolation observer

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Figure 1

The Comau SMART-3 S industrial robot

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Figure 5

Residuals 7–12 of the 3rd isolation observer

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Figure 4

Residuals 7–12 of the 1st isolation observer

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Figure 3

Estimates of the faults

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Figure 2

Residuals 7–12 for the emulated actuator fault

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