Title : ( Simultaneous fault detection and control design for robots with linear fractional-order model )
Authors: Azimi Mohammad , Heydar Toossian Shandiz ,
Full TextAbstract
The problems of simultaneous detection of fault and control -SFDC- for robots with linear fractional-order -FO- model or any system that can be modeled as a linear fractional-order are investigated in this study. The new rules in terms of LMI are displayed to build a SFDC unit. In essence, a Luenberger observer has been used as a fault explorer and the controller has been designed to form of an observer-based controller. This design is converted to H- /H∞ problem. In order to show the correctness of the design method and the resulting formulas, a numerical model simulated with MATLAB is presented in this article.
Keywords
, Fault Detection, linear fractional-order Systems, SFDC, LMI.
@inproceedings{paperid:1073307,
author = {محمد عظیمی and Toossian Shandiz, Heydar},
title = {Simultaneous fault detection and control design for robots with linear fractional-order model},
booktitle = {The 6th RSI International Conference on Robotics and Mechatronics},
year = {2018},
location = {تهران, IRAN},
keywords = {Fault Detection; linear fractional-order Systems; SFDC; LMI.},
}
%0 Conference Proceedings
%T Simultaneous fault detection and control design for robots with linear fractional-order model
%A محمد عظیمی
%A Toossian Shandiz, Heydar
%J The 6th RSI International Conference on Robotics and Mechatronics
%D 2018
