Fault detection and identification based on combining logic and model in a wall-climbing robot

@inproceedings{Jiang2009FaultDA,
  title={Fault detection and identification based on combining logic and model in a wall-climbing robot},
  author={Yong Jiang and Hongguang Wang and Lijin Fang and Mingyang Zhao},
  year={2009}
}
A combined logicand model-based approach to fault detection and identification (FDI) in a suction foot control system of a wall-climbing robot is presented in this paper. For the control system, some fault models are derived by kinematics analysis. Moreover, the logic relations of the system states are known in advance. First, a fault tree is used to analyze the system by evaluating the basic events (elementary causes), which can lead to a root event (a particular fault). Then, a multiple-model… CONTINUE READING

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