Automated Fault Diagnosis and Accommodation Control for Mechanical Systems

In this paper, a fault diagnosis and accommodation control scheme is designed, which is applicable to mechanical systems. First, the fault detection is developed by designing a nonlinear observer. Second, the fault isolation is achieved by using multiple fault observers. Third, when a fault is diagnosed, an adequate fault accommodation control is triggered to compensate the effects of the fault function. Finally, case study is given to illustrate the effects of the proposed method.