DOĞRUSAL OLMAYAN DİZGELER İÇİN MODEL TEMELLİ ARIZA BULMA-YALITIMI VE ROBOT MANİPÜLATÖRLERE UYGULANMASI

Öz

Gelişen teknoloji ile birlikte arıza bulma ve yalıtımı otomatik kontrol ve sinyal işlemenin ilginç ve önemli araştırma alanlarından biri haline gelmiştir. İlk yapılan çalışmalar doğrusal dizgeler üzerine yoğunlaşsa da gerçek hayattaki uygulamalardaki doğrusal olmayan karakteristikler bu çalışmaların doğrusal olmayan dizgelere uyarlanması veya yeni teknikler önerilmesi ihtiyacını ortaya çıkarmıştır. Bu çalışmada model temelli arıza bulma ve yalıtımı konusuna kısa bir giriş yapılmış, doğrusal olmayan dizgeler için uygulanan teknikler ve çalışmalar için geniş bir literatür özeti verilmiş, daha sonra doğrusal olmayan dizgelerde özel bir yeri olan robot manipülatörler için önerilen bir arıza bulma-yalıtım dizgesi sunulmuş ve gerçeklenen benzetimler üzerinde dizgenin çeşitli özellikleri tartışılmıştır.

Anahtar Kelimeler

• Arıza bulma ve yalıtımı, doğrusal olmayan dizgeler, robot manipülatörler.

Kaynakça

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