Model Based Fault Detection-Isolation for Nonlinear Systems and Its Application to Robot Manipulators

Abstract

With the growing technology, Fault Detection and Isolation (FDI) have become one of the interesting and important research areas in modern control and signal processing. Although first studies were concentrated on linear systems, nonlinear characteristics in real-life applications arose the requirement of adaptation of these studies to nonlinear systems or the proposal of new techniques. In this study a brief introduction to model based fault detection and isolation is given, a wide literature overview on techniques and studies on nonlinear systems is given and a fault detection and isolation system for robot manipulators that have a special place in nonlinear systems is presented and various specifications of the proposed system are discussed on implemented simulations.