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This paper studies a model-based fault detection and isolation (FDI) scheme for robot manipulators with actuator and sensor faults. Without adding redundant joint sensor measurements, the multiple faults simultaneously occurring in the actuators and sensors of the manipulator are detected, estimated and isolated. Considering Lipschitz-like nonlinearities and modeling uncertainties, a nonlinear adaptive...
This paper investigates the fault detection and isolation (FDI) problem for robot manipulators with actuator and sensor faults. The considered manipulators are modeled by a class of nonlinear systems with Lipschitz-like nonlinearities and modeling uncertainties. The simultaneous occurrence of actuator and sensor faults is considered, which results in that feedback information for FDI is corrupted...
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