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First International Conference on Real Time Intelligent Systems

RTIS 2017: Lecture Notes in Real-Time Intelligent Systems pp 426–435Cite as

Sensor Fault Detection and Isolation for a Robot Manipulator Based on High-Gain Observers

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 756))

Abstract

This paper deals with the analysis and design of a fault detection and isolation scheme (FDI) for a class of affine nonlinear systems using high gain observers. The observers are applied for robot manipulator especially robot named Articulated Nimble Adaptable Trunk “ANAT” in order to detected and isoleted sensor fault. The simulations results prove the effectiveness, performances and the robustness of the approach.

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Author information

Authors and Affiliations

  1. Integrations of Systems and Advanced Technologies Laboratory(LISTA), Sidi Mohammed Ben Abdellah University, Faculty of Sciences of Fez, Fez, Morocco

    Khaoula Oulidi Omali, M. Nabil Kabbaj & Mohammed Benbrahim

Authors
  1. Khaoula Oulidi Omali
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  2. M. Nabil Kabbaj
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  3. Mohammed Benbrahim
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Corresponding author

Correspondence to Khaoula Oulidi Omali .

Editor information

Editors and Affiliations

  1. Department of Computer Science, Institute of Mathematics and Computer Science, Opole University, Opole, Poland

    Jolanta Mizera-Pietraszko

  2. Digital Information Research Foundation , Chennai, India

    Pit Pichappan

  3. University of Hassan II , Casablanca, Morocco

    Lahby Mohamed

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Cite this paper

Omali, K.O., Kabbaj, M.N., Benbrahim, M. (2019). Sensor Fault Detection and Isolation for a Robot Manipulator Based on High-Gain Observers. In: Mizera-Pietraszko, J., Pichappan, P., Mohamed, L. (eds) Lecture Notes in Real-Time Intelligent Systems. RTIS 2017. Advances in Intelligent Systems and Computing, vol 756. Springer, Cham. https://doi.org/10.1007/978-3-319-91337-7_38

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