Fault Detection for Underwater Hexapod Robot Based on PI Observer

Authors
Woo-Young Jeong, Pandu Sandi Pratama, Bong-Huan Jun, Sang-Bong Kim

한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea

Abstract - This paper introduces fault detection algorithm for legs of a hexapod robot. The fault detection algorithm is developed based on an unknown input PI observer for linear descriptor system. The states of system are estimated with unknown inputs and the faults of system are detected by the fault detection algorithm. A simple manipulator is used to confirm the effectiveness of the fault detection algorithm. A dynamic equation of a manipulator is described by LPD(Linear Parameter Dependent) system to apply the fault detection algorithm. Finally, the effectiveness of the fault detection algorithm is proved by simulation results.