TY - GEN
T1 - A Compensation-Based Polynomial Fuzzy Fault Detection Method for Single-Link Rigid Robot System
AU - Ding, Jingyu
AU - Yu, Jinyong
AU - Liu, Yu
AU - Yang, Xuebo
AU - Zhao, Siyang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - For a single-link rigid robot system, this paper investigates a novel polynomial fuzzy fault detection scheme with a compensation vector. Unmeasurable premise variables are considered, while the stability of the original system is no longer required. Membership-function-dependent constraints to keep the residual system asymptotically stable are given in the format of Sum-of-Squares. Simulation results demonstrate the validity of the proposed method.
AB - For a single-link rigid robot system, this paper investigates a novel polynomial fuzzy fault detection scheme with a compensation vector. Unmeasurable premise variables are considered, while the stability of the original system is no longer required. Membership-function-dependent constraints to keep the residual system asymptotically stable are given in the format of Sum-of-Squares. Simulation results demonstrate the validity of the proposed method.
KW - fault detection
KW - membership-function-dependent method
KW - polynomial fuzzy system
KW - single-link rigid robot
UR - https://www.scopus.com/pages/publications/85190989353
U2 - 10.1109/RICAI60863.2023.10489572
DO - 10.1109/RICAI60863.2023.10489572
M3 - 会议稿件
AN - SCOPUS:85190989353
T3 - 2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023
SP - 519
EP - 524
BT - 2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023
Y2 - 1 December 2023 through 3 December 2023
ER -