Distributed Fault Estimation of Nonlinear Networked Systems : Application to Robotic Manipulator

Abstract EN

This paper is concerned with the distributed fault estimation for a class of nonlinear networked systems, where the T-S fuzzy model is utilized to approximate the nonlinear plant and the whole fault estimation task is operated by a wireless sensor network.

Due to the limited power in sensors, signal is quantized before transmission.

Based on the Lyapunov stability theory and the robust control approach, a sufficient condition is obtained such that the estimation error system is asymptotic stable with a prescribed H∞ performance level.

Finally, a case study on the actuator fault estimation of robotic manipulator is given to show the effectiveness of the proposed design.