Real-Time Detection and Identification of Robot Actuator Failures with Fast GPB-2 Algorithm
碩士 === 國立交通大學 === 電機與控制工程系所 === 96 === This thesis has a great contribution on detection and identification of the robot's actuator failures by combining UKF(Unscented Kalman Filter), GPB-2 algorithm, EM algorithm and pre-classification of fault models. Simulation results show that the proposed...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2008
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/16197213851508703516 |
| Summary: | 碩士 === 國立交通大學 === 電機與控制工程系所 === 96 === This thesis has a great contribution on detection and identification of the robot's actuator failures by combining UKF(Unscented Kalman Filter), GPB-2 algorithm, EM algorithm and pre-classification of fault models. Simulation results show that the proposed FDI(fault detection and identification) algorithm is better than conventional GPB-2 algorithm in terms of computational efficiency and accuracy of fault detection.
|
|---|