相关论文: Algebraic Fault Detection and Identification for R…

Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…

This paper presents a methodology for model based robust fault diagnosis and a methodology for input design to obtain optimal diagnosis of faults. The proposed algorithm is suitable for real time implementation. Issues of robustness are…

This paper aims to derive explicit and computable error bounds for the asymptotic expansion of the Jacobi polynomials as their degree approaches infinity, using an integral method. The analysis focuses on the outer or oscillatory region of…

A representative set of fault diagnosis problems is formulated for linear time-invariant systems with additive faults. For all formulated problems, general existence conditions of their solutions are given. An overview of recent…

In many commercial and academic settings, numerical solvers fail to achieve their theoretical performance levels due to issues in the system definition, parameterization, and even implementation. We propose a pair of methods for detecting…

Prediction of failures in real-world robotic systems either requires accurate model information or extensive testing. Partial knowledge of the system model makes simulation-based failure prediction unreliable. Moreover, obtaining such…

The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…

We consider the problem of identifying a pattern of faults from a set of noisy linear measurements. Unfortunately, maximum a posteriori probability estimation of the fault pattern is computationally intractable. To solve the fault…

An optimization based state and parameter estimation method is presented where the required Jacobian matrix of the cost function is computed via automatic differentiation. Automatic differentiation evaluates the programming code of the cost…

In this paper, we propose a very efficient numerical method based on the L-BFGS-B algorithm for identifying linear and nonlinear discrete-time state-space models, possibly under $\ell_1$ and group-Lasso regularization for reducing model…

This paper develops a fault detection and identification (FDI) method for nonlinear control-affine systems under simultaneous actuator and sensor faults. We adopt a geometric approach to study the isolability of faults in the sense of the…

To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily account for typical complexities such as sets of joint states and…

This paper proposes a novel fault detection and isolation (FDI) scheme for distributed parameter systems modeled by a class of parabolic partial differential equations (PDEs) with nonlinear uncertain dynamics. A key feature of the proposed…

In the vicinity of a solution of a nonlinear programming problem at which both strict complementarity and linear independence of the active constraints may fail to hold, we describe a technique for distinguishing weakly active from strongly…

This paper proposes a new algorithm for linear system identification from noisy measurements. The proposed algorithm balances a data fidelity term with a norm induced by the set of single pole filters. We pose a convex optimization problem…

Resonator networks are ubiquitous in natural and engineered systems, such as solid-state materials, neural tissue, and electrical circuits. To understand and manipulate these networks, it is essential to characterize their building blocks,…

A symbolic computational algorithm which detects " linear "` solutions of nonlinear polynomial differential equations of single functions, is developed throughout this paper.

This paper considers the problem of simultaneous sensor fault detection, isolation, and networked estimation of linear full-rank dynamical systems. The proposed networked estimation is a variant of single time-scale protocol and is based on…

In processing and manufacturing industries, there has been a large push to produce higher quality products and ensure maximum efficiency of processes. This requires approaches to effectively detect and resolve disturbances to ensure optimal…

This paper presents the design of a diagnosis system for the detection, identification and reconstruction of faults in pipelines. The design of such diagnosis system is based on redundant relations and nonlinear observers, taking into…