A novel approach to fault detection and identification in suction foot control of a climbing robot
文献类型：会议论文
| 作者 | Jiang Y(姜勇) ; Wang HG(王洪光); Fang LJ(房立金); Zhao MY(赵明扬)
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| 出版日期 | 2006 |
| 会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 会议日期 | October 9-13, 2006 |
| 会议地点 | Beijing, China |
| 关键词 | fault detection and identification multiple-model adaptive estimation Boolean logic reasoning MMBLR climbing robot |
| 页码 | 3423-3428 |
| 中文摘要 | 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 and the Boolean logic reasoning, the MMBLR approach is properly fit for the fault detection and identification (FDI) application to the climbing robot. In the MMBLR architecture, the MMAE algorithm is used to reliably detect and identify the model-known faults. Then based on the robot's states and the results of the MMAE, other faults are detected and identified using the Boolean logic reasoning. Experimental results validated that the faults of the sensors and actuators in the suction foot control of the robot can be readily detected and identified by the MMBLR approach. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, RSJ |
| 会议录 | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0258-8 |
| WOS记录号 | WOS:000245452403093 |
| 源URL | [http://ir.sia.cn/handle/173321/8501]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Jiang Y,Wang HG,Fang LJ,et al. A novel approach to fault detection and identification in suction foot control of a climbing robot[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China. October 9-13, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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