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Fault Detection for Underactuated Manipulators Modeled by Markovian Jump Systems


Abstract:

This paper is concerned with the fault detection problem for underactuated manipulators based on the Markovian jump model. The purpose is to design a fault detection filt...Show More

Abstract:

This paper is concerned with the fault detection problem for underactuated manipulators based on the Markovian jump model. The purpose is to design a fault detection filter such that the filter error system is stochastically stable and the prescribed probability constraint performance can be guaranteed. The existence conditions for a fault detection filter are proposed through the stochastic analysis technique, and a new fault detection filter algorithm is employed to design the desired filter gains. In addition, the cone complementarity linearization procedure is employed to cast the filter design into a sequential minimization problem, which can be solved efficiently using existing optimization techniques. A numerical example is exploited to illustrate the effectiveness of the proposed method.
Published in: IEEE Transactions on Industrial Electronics ( Volume: 63, Issue: 7, July 2016)
Page(s): 4387 - 4399
Date of Publication: 11 March 2016

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