Fault Detection Filters for Nonlinear Systems (Spanish)

E. Schuster, J. Solsona and C. Muravchik

National Symposium of Automatic Control

Buenos Aires, Argentina, August 1998

Abstract

This paper deals with the implementation of fault detection filters for nonlinear control systems with full relative degree. The filters are based on the use of observers, either of the identity type or with linear error dynamics. Special care is taken to handle actuator, component and sensor faults and to be able to isolate them. The proposed scheme is illustrated with simulations of a robot arm with two joints and DC motors.