Fault Detection of Robot Control Systems Based on Available Wireless Network Measurements
Considering some robot control systems which employ wireless networks to transmit sensor signals between the controller and the nonlinear controlled object, the fault detection is carried out. Firstly, based on T-S fuzzy model, the object is linearized. The fuzzy observer is designed and the error equation of the observer is given by using the fuzzy dominant subsystem rule. Secondly, the error equation is equal to the discrete switched system related to the hop count of the wireless transmission, and the stability of the error system is proved. Finally, a simulation example is given to demonstrate the effectiveness of the proposed method in this paper.
Ching Kuo Wang and Jing Guo
J. Zhang et al., "Fault Detection of Robot Control Systems Based on Available Wireless Network Measurements", Applied Mechanics and Materials, Vols. 300-301, pp. 604-610, 2013