Bibhrajit Halder

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The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive(More)
This paper proposes a new approach, called robust nonlinear analytic redundancy (RNLAR) technique, to sensor and actuator fault detection for input-affine nonlinear multivariable dynamic systems that include most robotic systems. In this approach, both model-plant-mismatch (MPM) and process disturbance are considered during fault detection. The proposed(More)
This paper presents a new approach, called robust nonlinear analytic redundancy (RNLAR) technique to actuator fault detection for input-affine nonlinear multivariable dynamic systems. Robust fault detection is important because of the universal existence of model uncertainties and process disturbances in most systems. This paper characterizes the order of(More)
ii To my family iii ACKNOWLEDGEMENTS Many thanks are extended to my dissertation committee for their support. Particularly my advisor, Dr. Nilanjan Sarkar, has been a great mentor and is perpetually prepared with guidance. support throughout the user studies. Also, many thanks go to Amy Swanson for serving as a reliable clinical observer. Working with my(More)
A new approach to actuator fault detection in the presence of model uncertainty and disturbances, and its application to a wheeled mobile robot (WMR) are presented in this paper. Robust fault detection is important because of the universal existence of model uncertainties and process disturbances in most systems. This paper proposes a new approach, called(More)
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