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题名: A novel approach to fault detection and identification in suction foot control of a climbing robot
作者: Jiang Y(姜勇) ; Wang HG(王洪光) ; Fang LJ(房立金) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
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
会议主办者: IEEE, RSJ
会议录: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 3423-3428
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0258-8
关键词: fault detection and identification ; multiple-model adaptive estimation ; Boolean logic reasoning ; MMBLR ; climbing robot
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.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8501
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
姜勇; 王洪光; 房立金; 赵明扬 .A novel approach to fault detection and identification in suction foot control of a climbing robot.见:IEEE .2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12,NEW YORK,2006,3423-3428
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