IEEE - Institute of Electrical and Electronics Engineers, Inc. - Higher Order Sliding Mode observers for actuator faults Diagnosis in robot manipulators

2010 IEEE International Symposium on Industrial Electronics (ISIE 2010)

Author(s): Capisani, L.M. ; Ferrara, A. ; Ferreira, A. ; Fridman, L.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2010
Conference Location: Bari, Italy, Italy
Conference Date: 4 July 2010
Page(s): 2,103 - 2,108
ISBN (CD): 978-1-4244-6391-6
ISBN (Electronic): 978-1-4244-6392-3
ISBN (Paper): 978-1-4244-6390-9
DOI: 10.1109/ISIE.2010.5637768
Regular:

A diagnostic scheme for actuator faults which can occur on a robot manipulator using a model-based Fault Diagnosis (FD) technique is addressed. With the proposed FD scheme it is possible to detect... View More

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