Fault Detection and Estimation for LTI Systems and its Application to a Lab Robotic Manipulator
This paper addresses the fault detection and fault estimation issues for linear discrete time invariant (LTI) systems subject to unknown disturbances. The underlying problems are investigated based on the generalized KYP lemma in the.nite frequency domain. In this paper, a new LMIs solution to the fault detection issue is proposed, which is slightly different from the available result and the set of LMIs are also simpler. A fault estimation method which focus on estimating the low frequency faults is also proposed. The fault detection and fault estimation techniques are further applied to a lab robotic manipulator.
Fault Detection Fault Estimation GKYP lemma Finite frequency Robotic Manipulator
Xiukun Wei Lihua Liu Michel Verhaegen
Delft Center for Systems and Control, Delft University of Technology, Delft 2628 CD, The Netherlands Department of Automation, Beijing Information Science & Technology University, Beijing 100192, China
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
1595-1600
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）