Closed-loop parity-space based fault detection: Application to simplified quadruped robot model

摘要

In this paper, the authors raise a parity space based fault detection (FD) 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.