Fuzzy logic based threshold adaption for fault detection in robots

Abstract

The residual evaluation of model-based fault detection methods is investigated for processes which exhibit unstructured disturbances, e.g. due to model simplifications. Since analytical methods can only be used for structured disturbances the use of heuristic knowledge for residual evaluation is appropriate. A fuzzy logic based threshold for residual evaluation is suggested. The benefit of this approach is demonstrated for an observer-based fault detection method of robots.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>