标题：Closed-loop Parity-Space Based Fault Detection: Application to Simplified Quadruped Robot Model
作者：Wang, Xiaochen; Li, Yueyang; Li, Yibin; Zhang, Qin; Chai, Hui
作者机构：[Wang, Xiaochen; Li, Yibin] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Shandong, Peoples R China.; [Li, Yueyang; Zhang, Qin] Univ Jinan, S 更多
会议名称：Chinese Automation Congress (CAC)
会议日期：OCT 20-22, 2017
来源：2017 CHINESE AUTOMATION CONGRESS (CAC)
摘要：In this paper, the authors raise a parity space based fault detection (ED) scheme in closed-loop quadruped robot dynamic control. The complete robot model is simplified to a cuboid, where three perpendicular forces and three perpendicular torques are applied to the center of mass (COM) of the robot model. The closed-loop system of the robot is integrated by a proportional-derivative (PD) controller. Within the framework of designing a stabilizable controller, a parity space based residual generator is derived such that the influence of faults is strengthened and that of disturbance is weakened. A numerical simulation is provided to show the optimal residual and analyze influence between different PD parameters.