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This paper presents a combined logistic and model based approach for fault detection and identification (FDI) in the suction foot control of a climbing robot. For this control system, some fault models are easily given by kinematics equations. Moreover, the logic relations of the system states have been known in advance. Based on the combination of the logic reasoning and the model based estimation,...
This paper presents a multiple-model and Boolean logic reasoning (MMBLR) approach to detect and identify faults in the suction foot control of a climbing robot. For this control system, some fault models are easily given by kinematics equations. Moreover, the logic relations of the system states have been known in advance. Based on the combination of the multiple-model adaptive estimation (MMAE) algorithm...
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