Nonlinear fault detection for hydraulic systems
One of the most important areas in the robotics industry is the development of robots capable of working in hazardous environments. As humans cannot safely or cheaply work in these environments, providing a high level of robotic functionality is important. This paper focuses on a fault detection method known as analytical redundancy (AR) and the application of a novel rigorous nonlinear AR technique to a hydraulic servovalve system. AR is a model-based state-space technique that is theoretically guaranteed to derive the maximum number of independent tests of the consistency of sensor data with the system model and past control inputs. Conventional linear AR is only valid for linear sampled data systems. However, the new nonlinear AR (NLAR) technique maintains traditional linear ARs mathematically guarantees to generate the maximum possible number of independent tests in the nonlinear domain. Thus NLAR allows us to gain the benefits of AR testing for nonlinear systems with both continuous and sampled data. For the entire collection see [Zbl 1017.00013].
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