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

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  • Juntong Chen
  • Rongyao Ling
  • Hongjie Ni
  • Dan Zhang

Abstract

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

Suggested Citation

  • Juntong Chen & Rongyao Ling & Hongjie Ni & Dan Zhang, 2014. "Distributed Fault Estimation of Nonlinear Networked Systems: Application to Robotic Manipulator," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-8, August.
    • Handle: RePEc:hin:jnlmpe:121636
    DOI: 10.1155/2014/121636
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