Fault Diagnosis and Fault Tolerant Control for Non-smooth and Nonlinear Systems

Faults in automated processes and plant will often cause undesired reactions leading to a shut-down, with damage to the plant/system, personnel or the environment. Fault-tolerant control is the synonym for a set of recent techniques that were developed to increase plant availability and reduce the risk of safety hazards. The purpose of Fault Diagnosis and Fault Tolerant Control for Non-smooth and Nonlinear Systems: Applications in Robotics is to explain the approaches to problems and solutions in fault diagnosis, estimation, and fault tolerant control for nonlinear systems under the external disturbances described by dynamic models with non-smooth nonlinearities, and to develop algorithms solving these problems by methods more effective since the computational complexity point of view. In particular, the book examines applications in robotics.

• Examines the problems of fault diagnosis, estimation, and fault tolerant control for nonlinear systems and their applications in robots
• Includes new methods and algorithms of fault diagnosis, estimation, and fault tolerant control
• The book outlines a new approach to improving the reliability, safety and efficiency of robots with the use of new methods of technical diagnostics, which in real time should ensure the detection of emerging faults, as well as the determination of the values of the changing parameters of robots and errors in the reading of their sensors