期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2006
卷号：3
期号：4
DOI：10.5772/5726
出版社：SAGE Publications
摘要：This paper presents a problem of fault detection and isolation (FDI) in mechatronic systems described by nonlinear dynamic models with such types of no differentiable nonlinearities as saturation, Coulomb friction, backlash, and hysteresis. To solve this problem, so-called logic-dynamic approach is suggested. This approach consists of three main steps: replacing the initial nonlinear system by certain linear logic-dynamic system, obtaining the bank of linear logic-dynamic observers, and transforming these observes into the nonlinear ones. Logic-dynamic approach allows one to use the linear FDI methods for diagnosis in nonlinear mechatronic systems.
关键词：mechatronic systems ; nonlinear models ; fault detection and isolation ; observers ; robustness
