Support Vector Machine Observer Based Fault Detection for Reconfigurable Manipulators
A novel fault detection scheme for reconfigurable manipulators actuators based on support vector machine(SVM) observer which has good ability to estimate any functions is proposed to estimate the unknown term and uncertainty term. The reconfigurable manipulators system is fault-free when the error between true value and predict value is less than the given threshold, otherwise, the system is in failure. Then the fuzzy logic systems are proposed for approximating the interconnection term by using adaptive algorithm. Based on Lyapunov stability theorem, the system stability can be verified. And the simulation results illustrate the effectiveness of the proposed fault detection schemes.
ZHAO Bo DONG Bo LI Yuanchun
State Key Laboratory of Automobile Dynamic Simulation, Jilin University, Changchun 130022, P.R.China Department of Control Science and Engineering, Jilin University, Changchun 130022, P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）