@inproceedings{e7055b9a5353431e8b343b2bc9581bb1,
title = "Adaptive eXogenous Kalman Filter for Actuator Fault Diagnosis in Robotics and Autonomous Systems",
abstract = "This paper presents an algorithm for actuator fault diagnosis in robotics and autonomous systems under random uncertainties based on a cascade of nonlinear observer and linearized Kalman filter. The two-stage estimation method assumes uniform complete observability and controllability conditions and persistent excitation condition. To this end, we consider dynamical systems of robotics and autonomous systems with one-sided Lipschitz nonlinearity. To demonstrate the effectiveness of the proposed algorithm, numerical simulations in a single-link flexible joint robot are performed.",
keywords = "autonomous systems, fault diagnosis, Kalman filter",
author = "Agus Hasan",
year = "2020",
month = feb,
day = "10",
doi = "10.1109/ICCMA46720.2019.8988724",
language = "English",
isbn = "978-1-7281-3788-9",
series = "2019 IEEE 7th International Conference on Control, Mechatronics and Automation, ICCMA 2019",
pages = "162--167",
booktitle = "2019 IEEE 7th International Conference on Control, Mechatronics and Automation, ICCMA 2019",
publisher = "IEEE",
address = "United States",
note = "7th IEEE International Conference on Control, Mechatronics and Automation, ICCMA 2019 ; Conference date: 06-11-2019 Through 08-11-2019",
}