The Development of Fault Detection and Estimation System for Electric Servo Actuators of Manipulation Robots*

The problem of fault detection and estimation in electric servo actuators of manipulation robots to achieve fault accommodation is considered. It’s supposed that electric servo actuators are described by nonlinear models with non-smooth nonlinearities. Fault detection problem is solved with help of logical-dynamic approach, which makes it possible to apply linear methods in diagnosing of nonlinear objects. To accurately estimate the real-time values of the appearing faults, it is suggested to add a special feedback by the residual signal in received observers that ensures the observer’s work in a sliding mode.