Analysis of order of redundancy relation for robust actuator fault detection

This paper presents a new approach, called robust nonlinear analytic redundancy (RNLAR) technique to actuator fault detection for input-affine nonlinear multivariable dynamic systems. Robust fault detection is important because of the universal existence of model uncertainties and process disturbances in most systems. This paper characterizes the order of redundancy relation for nonlinear systems in terms of robustness. A theorem is proposed that state an increase in the order of redundancy relation increases the robustness in the sense of a performance index defined in this paper. Experimental results on a PUMA 560 robotic arm are presented to demonstrate the application of the theorem.

本文提出了一种新方法，称为鲁棒非线性解析冗余（RNLAR）技术，用于输入仿射非线性多变量动态系统的执行器故障检测。由于大多数系统中普遍存在模型不确定性和过程干扰，鲁棒故障检测非常重要。本文根据鲁棒性描述了非线性系统冗余关系的阶数。提出了一个定理，该定理表明，就本文所定义的性能指标而言，冗余关系阶数的增加会提高鲁棒性。给出了在PUMA 560机械臂上的实验结果，以证明该定理的应用。