Fault detection and identification based on combining logic and model in a wall-climbing robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Fault detection and identification based on combining logic and model in a wall-climbing robot
	Jiang Y(姜勇); Wang HG(王洪光); Fang LJ(房立金); Zhao MY(赵明扬)
刊名	Journal of Control Theory and Applications
	2009
卷号	7 期号:2 页码:157-162
ISSN号	1672-6340
产权排序	1
中文摘要	A combined logic- and model-based approach to fault detection and identification (FDI) in a suction foot control system of a wall-climbing robot is presented in this paper. For the control system, some fault models are derived by kinematics analysis. Moreover, the logic relations of the system states are known in advance. First, a fault tree is used to analyze the system by evaluating the basic events (elementary causes), which can lead to a root event (a particular fault). Then, a multiple-model adaptive estimation algorithm is used to detect and identify the model-known faults. Finally, based on the system states of the robot and the results of the estimation, the model-unknown faults are also identified using logical reasoning. Experiments show that the proposed approach based on the combination of logical reasoning and model estimating is efficient in the FDI of the robot.
收录类别	EI
语种	英语
公开日期	2012-05-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/7352]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Jiang Y,Wang HG,Fang LJ,et al. Fault detection and identification based on combining logic and model in a wall-climbing robot[J]. Journal of Control Theory and Applications,2009,7(2):157-162.
APA	Jiang Y,Wang HG,Fang LJ,&Zhao MY.(2009).Fault detection and identification based on combining logic and model in a wall-climbing robot.Journal of Control Theory and Applications,7(2),157-162.
MLA	Jiang Y,et al."Fault detection and identification based on combining logic and model in a wall-climbing robot".Journal of Control Theory and Applications 7.2(2009):157-162.