Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers
Keyword(s):
The problem of fault identification in electric servo actuators of robot manipulators described by nonstationary nonlinear dynamic models under disturbances is considered. To solve the problem, sliding mode observers are used. The suggested approach is based on the reduced order model of the original system having different sensitivity to faults and disturbances. This model is realized in canonical form that enables relaxing the limitation imposed on the original system. Theoretical results are illustrated by practical example.
2021 ◽
Vol 22
(12)
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pp. 625-633
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2013 ◽
Vol 2013
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pp. 1-9
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2021 ◽
Vol 64
(4)
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pp. 255-263
2010 ◽
Vol 18
(8)
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pp. 954-969
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