Estimating faults of the sensors and actuators in the IoMRT system

Faults are usually described as malfunctions of system components that make degradation inperformance and product quality and, may lead to failure and damage to the plant, personnel, orenvironment. The purpose of designing a method for fault diagnosis is to obtain more detailedinformation about the fault such as the kind, size, location, and time. Fault Diagnosis is requiredfor any complex engineering system such that the Internet of Medical Robotic Things (IoMRT).The speed and accuracy of fault detection in systems related to modern medical equipment, especiallyin a noisy environment, are very important due to the complexity of the technology usedin it. Sensors and actuators used in medical robots may be faulty, while external disturbances arealways present in real systems. Therefore, a timely and precise diagnosis of the fault can preventthe progressing fault in the system and its failure.Background and aims: Various methods for model-based fault detection have been presented inresearch, among which the observer-based method has attracted the attention of many researchersdue to its ability to estimate faults and provide a residual signal that is sensitive to faults andresistant to noise and disturbance.Method: Sufficient conditions for the design of the proposed observer are such to guarantee thestability of the system, based on Lyapunov theory and linear matrix inequality (LMI) optimizationproblems.Results: The proposed robust observer is able to estimate actuator and sensor faults in the roboticsystem at the same time, and also has a high resistance to disturbances and noises.Conclusion: For further work, based on the information obtained from the observer, a fault-tolerantcontroller can be designed to compensate for the fault efficiency and ensure the robust stabilityof the closed-loop system.

کلیدواژه ها:

IoMRT ، disturbances ، Estimation ، Sensor fault ، actuator fault ، robotic